@inproceedings{ee11b13dedbc4dd8b77c86af55d2a742,
title = "Distributed collision-avoiding deployment control of multiple nonholonomic mobile robots",
abstract = "This paper presents a distributed second-order control algorithm for deploying a group of nonholonomic mobile robots into an unknown environment to establish and maintain desired sensor coverage. The general control framework is formulated based on Hamilton's principle. The control input is defined in the form of a potential/force field. A multi-robot collision avoidance scheme is also presented. The effectiveness of the proposed deployment control scheme is verified through both simulations and experiments. Main performance factors, including equilibrium deployment configuration, convergence of inter-robot coverage distance and collision avoidance, are presented and analyzed.",
author = "Xionghui Lu and Yu Zhou and Xu Zhong",
year = "2011",
doi = "10.1115/DETC2011-47991",
language = "English",
isbn = "9780791854808",
series = "Proceedings of the ASME Design Engineering Technical Conference",
number = "PARTS A AND B",
pages = "637--645",
booktitle = "ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011",
edition = "PARTS A AND B",
note = "ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011 ; Conference date: 28-08-2011 Through 31-08-2011",
}