Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Research › peer-review
Multiple fully actuated mobile robots travel in a plane with upper-limited speeds and are driven by accelerations limited in magnitude. The robots should arrive at a pre-specified distance from an unpredictable speedy target, then maintain this distance and achieve an even self-distribution over the respective moving circle, along with a given angular velocity of rotation about the target. The robots do not communicate with anybody and are anonymous to one another; pre-assignment of different roles to various robots is impossible. Every robot measures only the relative position of the target and companion robots (within a finite range of 'visibility' in the latter case) and has access to the angular velocity of its own pure rotation; access to its own linear velocity may also be needed in some cases. Necessary conditions for the solvability of the mission are disclosed and a distributed control strategy is proposed. Its global convergence and collision avoidance property are rigor- ously proved under slight and partly unavoidable enhancement of the just mentioned necessary conditions. The performance of the control law is illustrated by computer simulations.
Original language | English |
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Title of host publication | 2018 European Control Conference, ECC 2018 |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 1797-1802 |
Number of pages | 6 |
ISBN (Electronic) | 9783952426982 |
DOIs | |
State | Published - 27 Nov 2018 |
Event | 16th European Control Conference, ECC 2018 - Limassol, Cyprus Duration: 12 Jun 2018 → 15 Jun 2018 |
Name | 2018 European Control Conference, ECC 2018 |
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Conference | 16th European Control Conference, ECC 2018 |
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Country/Territory | Cyprus |
City | Limassol |
Period | 12/06/18 → 15/06/18 |
ID: 99412363