Abstract
AbstractThis paper is concerned with control problems of multiple mobile robots such as wheeled mobile robots defined on Se(2) or free-flying robots defined on SO(3). If each robot were supposed to be controlled independently, the total number of control inputs would be the number of individual inputs times the number of robots. In this paper, we show that it is possible to reduce the number of control inputs where the whole system remains controllable by imposing artificial kinematic constraints between the robots, e.g., two wheeled mobile robots can be controllable with only 2 or 3 inputs. We also discuss what happens if we try to make the multiple robots track the reference trajectories.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
