{"title":"Rendezvous of wheeled mobile robots using bearings-only or range-only measurements","authors":"Ronghao Zheng, Dong Sun","doi":"10.1109/ROBIO.2013.6739468","DOIUrl":null,"url":null,"abstract":"In this paper, we study distributed rendezvous strategies for multiple nonholonomic wheeled mobile robots with the aim of testing their practicality on real robots. Control strategies using just bearings-only or range-only measurements are investigated. For the bearings-only case, we recall two control laws presented in our previous study. For the range-only case, we first propose rendezvous control laws for a two-robot system and prove the global convergence results for this specific case. Then these range-only based controllers are extended to a N-robot system. Experimental results illustrate the applicability and performance of the proposed control strategies for multiple wheeled-robot systems.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBIO.2013.6739468","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 3
Abstract
In this paper, we study distributed rendezvous strategies for multiple nonholonomic wheeled mobile robots with the aim of testing their practicality on real robots. Control strategies using just bearings-only or range-only measurements are investigated. For the bearings-only case, we recall two control laws presented in our previous study. For the range-only case, we first propose rendezvous control laws for a two-robot system and prove the global convergence results for this specific case. Then these range-only based controllers are extended to a N-robot system. Experimental results illustrate the applicability and performance of the proposed control strategies for multiple wheeled-robot systems.
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