Motion planning for nonlinear symmetric distributed robotic formations

International Journal of Robotics Research

Volumn 26, Issue 10, 2007, Pages 1025-1041

  McMickell, M Brett ^a   Goodwine, Bill ^a  

^a University of Notre Dame   (United States)

Author keywords

Distributed robot systems; Multiple mobile robot systems; Nonholonomic motion planning; Path planning

Indexed keywords

ALGORITHMS; COMPUTATION THEORY; COMPUTER SIMULATION; DIFFERENTIAL EQUATIONS; MOBILE ROBOTS;

DISTRIBUTED ROBOT SYSTEMS; MULTIPLE MOBILE ROBOT SYSTEMS; NONHOLONOMIC MOTION PLANNING;

MOTION PLANNING;

EID: 34748872605     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364907082097     Document Type: Article

References (30)

1. Bates, L. and Sniatycki, J. (1993). Nonholonomic Reduction. Reports on Mathematical Physics, 32: 99 - 115.
2. Chaimowicz, L., Sugar, T., Kumar, V. and Campos, M.F.M. (2001). An Architecture for Tightly Coupled Multi-Robot Cooperation. Proceedings of the 2001 IEEE International Conference on Robotics and Automation, 3: 2992-2997.
3. Chitta, S. and Ostrowski, J.P. (2002). Motion Planning for Heterogeneous Modular Mobile Systems. Proceedings of the 2002 IEEE International Conference On Robotics and Automation, 4: 4077 - 4082.
4. Desai, J.P. and Kumar, V. (1999). Motion planning for cooperating mobile manipulators. Journal of Robotic Systems, 10: 557 - 579.
5. Egerstedt, M. and Hu, X. (2000). Coordinated Trajectory Following for Mobile Manipulation. Proceedings of the 2000 IEEE International Conference on Robotics and Automation, 4: 3479 - 3484.
6. Fax, J.A. and Murrray, R.M. (2004). Information Flow and Cooperative Control of Vehicle Formations. IEEE Transactions on Automatic Control, 49 (49). 1465 - 1476.
7. Hill, J. and Culler, D. (2002). MICA: A wireless Platform for Deeply Embedded Networks. IEEE Micro, 22 (6). 12 - 24.
8. Hill, J., Szewczyk, R., Woo, A., Hollar, S., Culler, D. and Pister, K. (2000). System architecture directions for networked sensors. http://www.cs.berkeley.edu/∼culler/cs252-s02/papers/MICA_ARCH.pdf.
9. Kawski, M. (2004). Bases for Lie algebras and a continuous CBH formula. In Unsolved Problems in Mathematical Systems and Control Theory. V. Blondel and A. Megretski (eds). Princeton University Press, 97 - 102.
10. Lafferriere, G. and Sussmann, H.J. (1993). A Differential Geometric Approach to Motion Planning. In Nonholonomic Motion Planning. X. Li and J. F. Canny (eds). Kluwer, 235 - 270.
11. Laumond, J.-P., Sekhavat, S. and Lamiraux, F. (1998). Guideline in Nonholonomic Motion Planning for Mobile Robots. In Robot Motion Planning and control. J.-P. Laumond (ed). Springer-Verlag.
12. Leonard, N.E. and Fiorelli, E. (2001). Virtual Leaders, artificial potentials, and coordinated control of groups. Proceedings of the 2001 IEEE Conference on Decision and Control, 3: 2968-2973.
13. Mainwaring, A., Culler, D., Polastre, J., Szewczyk., R. and Anderson, J. (2002). Wireless sensor networks for habitat monitoring. Proceedings of the 1st ACM International Workshop on Wireless Sensor Networks and Applications. 88-97.
14. McMickell, M.B. (2003). Reduction and Control of Nonlinear Symmetric Distributed Robotic Systems. Ph.D. thesis, University of Notre Dame.
15. McMickell, M.B. and Goodwine, B. (2001). Reduction and Nonlinear Controllability of Symmetric Distributed Systems. Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, 3: 1232- 1237.
16. McMickell, M.B. and Goodwine, B. (2002). Reduction and Nonlinear Controllability of Symmetric Distributed Robotic Systems with Drift. Poceedings of the 2002 IEEE International Conference on Robotics and Automation, 4: 3454-3460.
17. McMickell, M.B. and Goodwine, B. (2003 a). Reduced Order Motion Planning for Nonlinear Symmetric Distributed Robotic Systems. Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 3: 4228- 4233.
18. McMickell, M.B. and Goodwine, B. (2003 b). Reduction and nonlinear controllability of symmetric distributed systems. International Journal of Control, 76 (18). 1809 - 1822.
19. McMickell, M.B., Goodwine, B. and Montestruque, L.A. (2003). MICAbot: A Robotic Platform for Large-Scale Distributed Robotics. Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2, 1600- 1605.
20. Murray, R.M. and Sastry, S. (1993). Nonholonomic Motion Planning: Steering Using Sinusoids. IEEE Transactions on Automatic Control, 38 (5). 700 - 716.
21. Murray, R.M., Li, Z. and Sastry, S.S. (1994). A Mathematical Introduction to Robotic Manipulation. CRC Press, Inc.
22. Olfati-Saber, R. and Murray, R.M. (2002). Graph rigidity and distributed formation stabilization of multi-vehicle systems. Proceedings of the 2002 IEEE Conference on Decision and Control, 3: 2965-2971.
23. Sastry, S. (1999). Nonlinear Systems: Analysis, Stability, and Control. Springer.
24. Soures, P. and Boissonat, J.D. (1998). Optimal Trajectories for Nonholonomic Mobile Robots. In Robot Motion Planning and Control, J. P. Laumond (ed). Lecture Notes in Control and Information Sciences, 229, Springer-Verlag.
25. Sugar, T., Desai, J.P., Kumar, V. and Ostrowski, J.P. (2001). Coordination of Multiple Mobile Manipulators. Proceedings of the 2001 IEEE International Conference on Robotics and Automation, 3: 3022-3027.
26. Sussmann, H.J. (1991). Two New Methods for Motion Planning for Controllable Systems without Drift. European Control Conference, 1501-1506.
27. Teel, A.R., Murray, R.M. and Walsh, G.C. (1995). Nonholonomic Control Systems: from steering to stabilization with sinusoids. International Journal of Control, 62 (4). 849 - 870.
28. Yamaguchi, H. (1999). A cooperative hunting behavior by mobile robot troops. International Journal of Robotics Research, 18 (9). 931 - 940.
29. Yamaguchi, H. and Burdick, J. (1998). Time-Varying Feedback Control for Nonholonomic Mobile Robots Forming Group Formations. Proceedings of the 1998 IEEE Conference on Decision and Control, 4156-4163.
30. Yamaguchi, H., Arai, T. and Beni, G. (2001). A distributed control scheme for multiple robotic vehicles to make group formations. Robotics and Autonomous Systems, 36: 125 - 147.