About: Navigation and Formation Control Employing Complementary Virtual Leaders for Complex Maneuvers

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An Entity of Type : http://linked.opendata.cz/ontology/domain/vavai/Vysledek, within Data Space : linked.opendata.cz associated with source document(s)

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	Complex maneuvers of formations of car-like autonomous vehicles are investigated in this paper. The proposed algorithm provides a complete plan for the formation to solve desired tasks and actual control inputs for each robot to ensure collision-free trajectories with respect to neighboring robots as well as dynamic obstacles. The method is based on utilization of complementary virtual leaders whose control inputs are obtained in one merged optimization process using receding horizon control methodologies. The functionality of the system, which enables reverse driving and arbitrary rotations of formations of nonholonomic robots, is verified by simulations of multi-robot tasks and by hardware experiments. Complex maneuvers of formations of car-like autonomous vehicles are investigated in this paper. The proposed algorithm provides a complete plan for the formation to solve desired tasks and actual control inputs for each robot to ensure collision-free trajectories with respect to neighboring robots as well as dynamic obstacles. The method is based on utilization of complementary virtual leaders whose control inputs are obtained in one merged optimization process using receding horizon control methodologies. The functionality of the system, which enables reverse driving and arbitrary rotations of formations of nonholonomic robots, is verified by simulations of multi-robot tasks and by hardware experiments. (en)
Title	Navigation and Formation Control Employing Complementary Virtual Leaders for Complex Maneuvers Navigation and Formation Control Employing Complementary Virtual Leaders for Complex Maneuvers (en)
skos:prefLabel	Navigation and Formation Control Employing Complementary Virtual Leaders for Complex Maneuvers Navigation and Formation Control Employing Complementary Virtual Leaders for Complex Maneuvers (en)
skos:notation	RIV/68407700:21230/10:00169053!RIV11-MSM-21230___
http://linked.open...avai/riv/aktivita	P S Z
http://linked.open...avai/riv/aktivity	P(2C06005), S, Z(MSM6840770038)
http://linked.open...vai/riv/dodaniDat	2011
http://linked.open...aciTvurceVysledku	Saska, Martin Přeučil, Libor Vonásek, Vojtěch
http://linked.open.../riv/druhVysledku	D - Článek ve sborníku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	České vysoké učení technické v Praze / Fakulta elektrotechnická
http://linked.open...dnocenehoVysledku	273897
http://linked.open...ai/riv/idVysledku	RIV/68407700:21230/10:00169053
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	autonomous mobile robots; compact formations; virtual leaders; trajectory planning (en)
http://linked.open.../riv/klicoveSlovo	virtual leaders autonomous mobile robots trajectory planning compact formations
http://linked.open...ontrolniKodProRIV	[230AC4B9D934]
http://linked.open...v/mistoKonaniAkce	Funchal, Madeira
http://linked.open...i/riv/mistoVydani	Angers
http://linked.open...i/riv/nazevZdroje	7th international Conference on Informatics in Control, Automation and Robotics
http://linked.open...in/vavai/riv/obor	JC
http://linked.open...ichTvurcuVysledku	3 (xsd:int)
http://linked.open...cetTvurcuVysledku	3 (xsd:int)
http://linked.open...vavai/riv/projekt	A System for robotic e-learning
http://linked.open...UplatneniVysledku	2010
http://linked.open...iv/tvurceVysledku	Přeučil, Libor Saska, Martin Vonásek, Vojtěch
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open.../riv/zahajeniAkce	2010-06-15 (xsd:date)
http://linked.open...n/vavai/riv/zamer	Decision Making and Control for Manufacturing III
number of pages	6 (xsd:int)
http://purl.org/ne...btex#hasPublisher	University of Angers
https://schema.org/isbn	978-989-8425-01-0
http://localhost/t...ganizacniJednotka	21230

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