Optimal Reorganization of a Formation of Nonholonomic Agents Using Shortest Paths

• Type: Article in International Conference Proceedings Book
• Date: 2018

Authors

Amélia C. D. Caldeira (Author) Other; Luís Tiago Paiva (Author) FEUP; Dalila B. M. M. Fontes (Author) FEP; Fernando A. C. C. Fontes (Author) FEUP

Conference proceedings International

Title: 2018 13TH APCA INTERNATIONAL CONFERENCE ON CONTROL AND SOFT COMPUTING (CONTROLO)

Pages: 177-182

13th APCA International Conference on Control and Soft Computing (CONTROLO)

Univ Azores, Ponta Delgada, PORTUGAL, JUN 04-06, 2018

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Other information

Authenticus ID: P-00P-Z74

DOI: 10.1109/controlo.2018.8516407

Abstract (EN): In this work we address the problem of switching the shape of a formation of undistinguishable nonholonomic mobile robots. Each agent moves from the current to its target oriented position using the shortest path. We combine results from previous work on optimal formation switching when the agents are holonomic with results on the structure of the shortest path for nonholonomic agents.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6