A New Characterization of Mobility for Distance-Bearing Formations of Unicycle Robots

Abstract : In this paper, we present a new characterization of mobility for formations of unicycle robots defined by distance-bearing constraints. In fact, by introducing a simple reduction procedure which associates a prescribed formation with a "macro-robot", we extend the classification by type proposed by Campion et al., to multi-agent systems. To simplify the classification task, which only leverages the nonslip condition for a conventional centered wheel, we assume that the robots are disposed at the vertices of a regular convex polygon. We demonstrate the practical utility of the notion of macro-robot in a trajectory-tracking control problem for a formation of unicycles.
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Submitted on : Tuesday, October 9, 2018 - 4:28:15 PM
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Fabio Morbidi, Estelle Bretagne. A New Characterization of Mobility for Distance-Bearing Formations of Unicycle Robots. IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2018, Madrid, Spain. pp.4833-4839. ⟨hal-01891511⟩

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