"000319851900008" . "10.1016/j.ejcon.2012.10.003" . . . "6"^^ . . . . "P(GPP103/12/P756), P(LH11053), S" . . "21230" . . "19" . "Von\u00E1sek, Vojt\u011Bch" . . . . . "Stipanovic, D. M." . . "European Journal of Control" . "Control and Navigation in Manoeuvres of Formations of Unmanned Mobile Vehicles" . "2" . "0947-3580" . "15"^^ . . "Mobile Robots; Formations; Model Predictive Control"@en . "Schilling, K." . "Mej\u00EDa, J. S." . . "This paper proposes a method for controlling formations of autonomous nonholonomic vehicles in order to reach a desired target region. The approach is based on utilization of pairs of virtual leaders whose control inputs are obtained in a single optimization process using model predictive control (MPC) methodology. The obtained solution of the optimization includes both a complete plan for the formation including the overall structure of robots\u2019 workspace and control inputs for each vehicle. This ensures collision-free trajectories between the robots as well as dynamic obstacles. The proposed method enables to autonomously design arbitrary manoeuvres, like reverse driving or rotations of compact formations of car-like robots. Such a complicated behavior is illustrated by simulations and by experiments. Furthermore, the requirements that guarantee convergence of the group to the target region are formulated." . . "Control and Navigation in Manoeuvres of Formations of Unmanned Mobile Vehicles"@en . "66950" . "http://www.sciencedirect.com/science/article/pii/S0947358013000204" . "Control and Navigation in Manoeuvres of Formations of Unmanned Mobile Vehicles" . "Control and Navigation in Manoeuvres of Formations of Unmanned Mobile Vehicles"@en . . . "This paper proposes a method for controlling formations of autonomous nonholonomic vehicles in order to reach a desired target region. The approach is based on utilization of pairs of virtual leaders whose control inputs are obtained in a single optimization process using model predictive control (MPC) methodology. The obtained solution of the optimization includes both a complete plan for the formation including the overall structure of robots\u2019 workspace and control inputs for each vehicle. This ensures collision-free trajectories between the robots as well as dynamic obstacles. The proposed method enables to autonomously design arbitrary manoeuvres, like reverse driving or rotations of compact formations of car-like robots. Such a complicated behavior is illustrated by simulations and by experiments. Furthermore, the requirements that guarantee convergence of the group to the target region are formulated."@en . "3"^^ . "P\u0159eu\u010Dil, Libor" . "Saska, Martin" . . "RIV/68407700:21230/13:00206004" . "[0EE3DA4A510B]" . "FR - Francouzsk\u00E1 republika" . "RIV/68407700:21230/13:00206004!RIV14-MSM-21230___" . . .