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Formation Control and Vision Based Localization of a System of Mobile Robots

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Book cover Informatics in Control, Automation and Robotics 12th International Conference, ICINCO 2015 Colmar, France, July 21-23, 2015 Revised Selected Papers

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 383))

Abstract

This paper presents trajectory tracking algorithms for a group of mobile robots. The dynamics of differentially driven mobile robots with nonholonomic constrains is taken into account. The paper describes simulation results for the formation motion in the environment free from obstacles and with circle-shaped static obstacles, the experimental testbed and experiments for the kinematic version of the Vector Field Orientation algorithm. The collision avoidance utilizes local artificial potential function that requires only the local information about the environment.

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Author information

Authors and Affiliations

  1. Chair of Control and Systems Engineering, Faculty of Computer Sciences, Poznan University of Technology, Piotrowo 3A, Poznan, Poland

    Krzysztof Kozłowski & Wojciech Kowalczyk

Authors
  1. Krzysztof Kozłowski
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  2. Wojciech Kowalczyk
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Corresponding author

Correspondence to Krzysztof Kozłowski .

Editor information

Editors and Affiliations

  1. Polytechnic Institute of Setúbal, Setubal, Portugal

    Joaquim Filipe

  2. Vitry sur Seine, France

    Kurosh Madani

  3. Ford Research & Adv. Engineering, Dearborn, Michigan, USA

    Oleg Gusikhin

  4. Mechanical and Aerospace Engineering, Carleton University, Ottawa, Ontario, Canada

    Jurek Sasiadek

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Kozłowski, K., Kowalczyk, W. (2016). Formation Control and Vision Based Localization of a System of Mobile Robots. In: Filipe, J., Madani, K., Gusikhin, O., Sasiadek, J. (eds) Informatics in Control, Automation and Robotics 12th International Conference, ICINCO 2015 Colmar, France, July 21-23, 2015 Revised Selected Papers. Lecture Notes in Electrical Engineering, vol 383. Springer, Cham. https://doi.org/10.1007/978-3-319-31898-1_1

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  • DOI: https://doi.org/10.1007/978-3-319-31898-1_1

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-31896-7

  • Online ISBN: 978-3-319-31898-1

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