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FORMATION CONTROL OF MULTIPLE UNICYCLE-TYPE ROBOTS USING LIE GROUP



dc.contributor.authorDong , Youwei
dc.contributor.authorRahmani , Ahmed
dc.date.accessioned2017-02-09T11:26:39Z
dc.date.available2017-02-09T11:26:39Z
dc.date.issued2016
dc.identifier.citationActa Polytechnica. 2016, vol. 56, no. 1, p. 1-9.
dc.identifier.issn1210-2709 (print)
dc.identifier.issn1805-2363 (online)
dc.identifier.urihttp://hdl.handle.net/10467/67244
dc.description.abstractIn 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.mimetypeapplication/pdf
dc.language.isoeng
dc.publisherČeské vysoké učení technické v Prazecs
dc.publisherCzech Technical University in Pragueen
dc.relation.ispartofseriesActa Polytechnica
dc.relation.urihttps://ojs.cvut.cz/ojs/index.php/ap/article/view/3488
dc.rightsCreative Commons Attribution 4.0 International Licenseen
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/
dc.subjectformation controlen
dc.subjectmulti-robot systemen
dc.subjectunicycle-type roboten
dc.subjectLie groupen
dc.subjectLie algebraen
dc.titleFORMATION CONTROL OF MULTIPLE UNICYCLE-TYPE ROBOTS USING LIE GROUP
dc.typearticleen
dc.date.updated2017-02-09T11:26:39Z
dc.identifier.doi10.14311/APP.2016.56.0001
dc.rights.accessopenAccess
dc.type.statusPeer-reviewed
dc.type.versionpublishedVersion


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Creative Commons Attribution 4.0 International License
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