FORMATION CONTROL OF MULTIPLE UNICYCLE-TYPE ROBOTS USING LIE GROUP
dc.contributor.author | Dong , Youwei | |
dc.contributor.author | Rahmani , Ahmed | |
dc.date.accessioned | 2017-02-09T11:26:39Z | |
dc.date.available | 2017-02-09T11:26:39Z | |
dc.date.issued | 2016 | |
dc.identifier.citation | Acta Polytechnica. 2016, vol. 56, no. 1, p. 1-9. | |
dc.identifier.issn | 1210-2709 (print) | |
dc.identifier.issn | 1805-2363 (online) | |
dc.identifier.uri | http://hdl.handle.net/10467/67244 | |
dc.description.abstract | In this paper the formation control of a multi-robots system is investigated. The proposed control law, based on Lie group theory, is applied to control the formation of a group of unicycle-type robots. The communication topology is supposed to be a rooted directed acyclic graph and fixed. Some numerical simulations using Matlab are made to validate our results. | en |
dc.format.mimetype | application/pdf | |
dc.language.iso | eng | |
dc.publisher | České vysoké učení technické v Praze | cs |
dc.publisher | Czech Technical University in Prague | en |
dc.relation.ispartofseries | Acta Polytechnica | |
dc.relation.uri | https://ojs.cvut.cz/ojs/index.php/ap/article/view/3488 | |
dc.rights | Creative Commons Attribution 4.0 International License | en |
dc.rights.uri | http://creativecommons.org/licenses/by/4.0/ | |
dc.subject | formation control | en |
dc.subject | multi-robot system | en |
dc.subject | unicycle-type robot | en |
dc.subject | Lie group | en |
dc.subject | Lie algebra | en |
dc.title | FORMATION CONTROL OF MULTIPLE UNICYCLE-TYPE ROBOTS USING LIE GROUP | |
dc.type | article | en |
dc.date.updated | 2017-02-09T11:26:39Z | |
dc.identifier.doi | 10.14311/APP.2016.56.0001 | |
dc.rights.access | openAccess | |
dc.type.status | Peer-reviewed | |
dc.type.version | publishedVersion |
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