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CDC
2010
IEEE

On the internal dynamics of formations of unicycle robots

10 years 6 months ago
On the internal dynamics of formations of unicycle robots
This paper studies a general class of formations of unicycle robots. One of the robots plays the role of the leader and the formation is induced through a constraint function F that depends on the position and the orientation of the vehicles. We investigate the flexibility of such formations with respect to the leader's reference frame by introducing the notion of formation internal dynamics, we characterize its equilibria and provide sufficient conditions for their existence. The theory is specialized to a particular constraint function F that leads to a formation where robot i follows a convex combination of the positions of the preceding i-1 robots. Sufficient conditions are presented in this scenario that guarantee that the position and orientation of the vehicles with respect to the leader's reference frame are confined in a specific polyhedral region, regardless of the trajectory of the leader, provided that its curvature is sufficiently small.
Luca Consolini, Fabio Morbidi, Domenico Prattichiz
Added 13 May 2011
Updated 13 May 2011
Type Journal
Year 2010
Where CDC
Authors Luca Consolini, Fabio Morbidi, Domenico Prattichizzo, Mario Tosques
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