Publication

Graph-Based Distributed Control for Non-holonomic Vehicles Engaged in a Reconfiguration Task using Local Positioning Information

Alcherio Martinoli, Sven Adrian Gowal
2009
Conference Papers

Abstract

Formation building and keeping among vehicles has been studied for many years, since 1987 with Reynold's rules. This paper presents a control algorithm, based on recent work in graph theory, able to reconfigure static formations of non-holonomic vehicles endowed solely with local positioning capabilities. The convergence of our approach is mathematically proven and applied to a realistic robotic platform.

Official source

https://infoscience.epfl.ch/entities/publication/041ba9f7-43c8-45a2-a6fe-cd8fc6546f4a

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Graph-Based Distributed Control for Non-holonomic Vehicles Engaged in a Reconfiguration Task using Local Positioning Information

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