This paper presents an experimental analysis of a recently proposed decentralized control strategy, for collective circular motion of a team of non-holonomic vehicles. Theoretical results ensuring global asymptotic stability in the single-vehicle case and local asymptotic stability in the multi-vehicle scenario, are validated on an experimental setup including the mobile robots Pioneer 3AT and Nomad XR4000. In addition, the role of the control law parameters is discussed and a design procedure is proposed. Copyright © 2006 IFAC.
Ceccarelli, N., DI MARCO, M., Garulli, A., Giannitrapani, A. (2006). Experimental analysis of collective circular motion for multi-vehicle systems. In Proceedings of the 8th International IFAC Symposium on Robot Control (SYROCO 2006) (pp.113-1-113-6). IFAC Secretariat [10.3182/20060906-3-IT-2910.00107].
Experimental analysis of collective circular motion for multi-vehicle systems
CECCARELLI N.;DI MARCO M.;GARULLI A.;GIANNITRAPANI A.
2006-01-01
Abstract
This paper presents an experimental analysis of a recently proposed decentralized control strategy, for collective circular motion of a team of non-holonomic vehicles. Theoretical results ensuring global asymptotic stability in the single-vehicle case and local asymptotic stability in the multi-vehicle scenario, are validated on an experimental setup including the mobile robots Pioneer 3AT and Nomad XR4000. In addition, the role of the control law parameters is discussed and a design procedure is proposed. Copyright © 2006 IFAC.
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https://hdl.handle.net/11365/19480
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