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Geometric motion planning and formation optimization for a fleet of nonholonomic wheeled mobile robots
2004
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
In this paper, we present a geometric method for motion planning for a fleet of differentially-driven wheeled mobile robots moving in formation, that explicitly takes in to account their nonholonomic constraints. The relative position within the formation induces different motion plans each individual wheeled mobile robot (WMR). We can quantitatively evaluate the performance of such induced motion plans using suitable metrics defined for the motions of each WMR. These performance metrics in
doi:10.1109/robot.2004.1308759
dblp:conf/icra/BhattTK04
fatcat:sc7cjv75m5gefn2b5vtpdsqx3a