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Deployment Algorithms for Dynamically Constrained Mobile Robots

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Redundancy in Robot Manipulators and Multi-Robot Systems

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 57))

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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 using multi-center functions. In particular, vehicles are 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.

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Author information

Authors and Affiliations

  1. MAE - UC San Diego, 9500 Gilman Dr, La Jolla, CA, 92093-0411, USA

    Sonia Martínez

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  1. Sonia Martínez
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Correspondence to Sonia Martínez .

Editor information

Editors and Affiliations

  1. , Applied Mathematics and Statistics Dept, University of California, High St, M/S SOE2 1156, Santa Cruz, 95064, USA

    Dejan Milutinović

  2. , Computer Engineering Dept, University of California, High St 1156, Santa Cruz, 95064, California, USA

    Jacob Rosen

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Martínez, S. (2013). Deployment Algorithms for Dynamically Constrained Mobile Robots. In: Milutinović, D., Rosen, J. (eds) Redundancy in Robot Manipulators and Multi-Robot Systems. Lecture Notes in Electrical Engineering, vol 57. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33971-4_8

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  • DOI: https://doi.org/10.1007/978-3-642-33971-4_8

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-33970-7

  • Online ISBN: 978-3-642-33971-4

  • eBook Packages: EngineeringEngineering (R0)

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