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Extension of Leader-Follower Behaviours for Wheeled Mobile Robots in Multirobot Coordination
2019
Mathematical Problems in Engineering
This paper presents the extension of leader-follower behaviours, for the case of a combined set of kinematic models of omnidirectional and differential-drive wheeled mobile robots. The control strategies are based on the decentralized measurements of distance and heading angles. Combining the kinematic models, the control strategies produce the standard and new mechanical behaviours related to rigid body or n-trailer approaches. The analysis is given in pairs of robots and extended to the case
doi:10.1155/2019/4957259
fatcat:zzoww2n33zcttox2tpe2oklrm4