General Dynamic Formations for Non-Holonomic Systems Along Planar Curvilinear Coordinates

TitleGeneral Dynamic Formations for Non-Holonomic Systems Along Planar Curvilinear Coordinates
Publication TypeConference Paper
Year of Publication2011
AuthorsKrontiris, A, Louis, S, Bekris, KE
Conference NameInternational Conference on Robotics and Automation (ICRA-11)
Date Published9-13 May
Conference LocationShanghai, China

This paper describes a general geometric method for planar formations of non-holonomic systems. The approach directly provides the feasible controls that each individual robot has to execute in order for the team to maintain the formation based on the controls of a reference agent. The reference agent can either be a virtual robot representing the entire team or a real leader-robot. In order to directly satisfy the non-holonomic constraints, the geometric reasoning takes place in curvilinear coordinates, defined by the curvature of the reference trajectory, instead of the typical rectilinear coordinates. The generality and contribution of the approach lies on the ability to define dynamic formations so as to smoothly switch between static ones, where the robots can change both of their relative coordinates as they move, and the ability to acquire a desired formation given an initial random configuration. Furthermore, it is possible to utilize this method to correct errors in the achieved configuration of the vehicles on the fly. Simulated experiments are presented to verify the correctness of the provided derivations.

Refereed DesignationRefereed