Deployment algorithms for dynamically constrained mobile robots

Sonia Martínez
Proceedings of the 2011 IROS Workshop: Redundancy in Robot Manipulators and Multi-Robot Systems

Abstract:

The use of unmanned vehicles in exploration and surveillance operations has become evermore pervasive in today's world. The development of cooperative motion strategies has been fueled by this increasing demand. However, many dynamical models for these autonomous vehicles remain simple and are not accurate representations of a vehicle where such cooperative motion strategies may be physically implemented. This paper reviews complementary solutions to the problem of cooperative deployment of autonomous vehicles subject to three types of dynamic constraints, such as those due to remaining power supplies, nonholonomic dynamics, and constraints due to external environmental forces. Simulations illustrate the convergence properties of the algorithms when applicable.

File: main.pdf

Bib-tex entry:

@InProceedings{SM:workshop-iros-11},
author = {S. Mart{\'\i}nez},
booktitle = {Proc. of the 2011 IROS Workshop: Redundancy in Robot Manipulators and Multi-Robot Systems},
title = {Deployment algorithms for dynamically constrained mobile robots},
year = {2013}
}