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A New Characterization of Mobility for Distance-Bearing Formations of Unicycle Robots
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
In this paper, we present a new characterization of mobility for formations of unicycle robots defined by distance-bearing constraints. In fact, by introducing a simple reduction procedure which associates a prescribed formation with a "macro-robot", we extend the classification by type proposed by Campion et al., to multi-agent systems. To simplify the classification task, which only leverages the nonslip condition for a conventional centered wheel, we assume that the robots are disposed atdoi:10.1109/iros.2018.8593984 dblp:conf/iros/MorbidiB18 fatcat:wnuwr2j7sbaj5pjde2ncyuhusy