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| HAL: hal-00647351, version 1 |
| DOI: 10.1504/IJVAS.2011.038182 |
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| International Journal of Vehicle Autonomous Systems 9, 1-2 (2011) 108--125 |
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| Co-leaders and a flexible virtual structure based formation motion control |
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| Asma Essghaier 1Lotfi Beji 1 |
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| (2011) |
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| The motion control of multi-robots in formation using a Flexible Virtual Structure Approach (FVSA) is proposed. The dynamic model of n agents in formation is developed and sufficient conditions to the desired shape's stability over time are given. Inspired by a shepherd who supervises his troop by controlling the elements on the border, thus, he is able to control all the remainder of the troop. To control the formation shape, one defines control laws for co-leaders, selected from the border, which permits to control motions of the remaining formation agents. The strategy depend strongly on two objectives, on one hand performing an obstacles free motion and on the other avoiding collision among the agents. The Lyapunov technique is used to construct the control law ensuring obstacles avoidance for the agents on the border. |
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| 1: | Informatique, Biologie Intégrative et Systèmes Complexes (IBISC) |
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Université d'Evry-Val d'Essonne : EA4526 |
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| 2: | Laboratoire d'Ingénierie Mathématique (LIM) |
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Ecole Polytechnique de Tunisie |
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| VASCO SIBI |
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| co-leaders – collision avoidance – formation shape control – FVSA – flexible virtual structures – motion control – robot control – multi-robot systems – multiple robots – dynamic modelling – obstacle avoidance |
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| hal-00647351, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00647351 | |
| oai:hal.archives-ouvertes.fr:hal-00647351 | |
| From: Frédéric Davesne | |
| Submitted on: Thursday, 1 December 2011 19:10:41 | |
| Updated on: Thursday, 1 December 2011 19:10:41 | |
