Abstract
This paper presents an enhanced motion planning approach for formations of nonholonomic mobile robots which generates continuous speed and curvature profiles for all vehicles of the group. The formation is maintained in curvelinear coordinates during the motion which may be planned in realtime. Controlled modifications of the formation's shape can be executed as long as the nonholonomic constraints of the robots are not violated. The newly derived kinematic equations have been validated in simulations of various scenarios.
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