Abstract
The chapter presents a hierarchical control system for a formation of mobile robots used for large-size object transportation. The displacement and velocity values of the driving wheels in all robots were determined on the basis of inverse kinematics task. Proposed solution was simulated in an emulator of a n-robots’ working environment and verified in an original control-measurement environment, which is capable of managing the operation of up to 256 mobile robots.
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Buratowski, T., Giergiel, J., Uhl, T., Burghardt, A. (2013). The Kinematics Aspect of Robots Formation in Cooperation Tasks. In: Sąsiadek, J. (eds) Aerospace Robotics. GeoPlanet: Earth and Planetary Sciences. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-34020-8_10
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DOI: https://doi.org/10.1007/978-3-642-34020-8_10
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