TY - GEN
T1 - Parking Task for an Emulated Trailer through a Heterogeneous Multi-Agent Robot System
AU - Gonzalez-Sierra, Jaime
AU - Aranda-Bricaire, Eduardo
AU - Gonzalez-Medina, Oscar
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2019/4/12
Y1 - 2019/4/12
N2 - This paper proposes a heterogeneous multi-agent robot system, composed of differential-drive robots and omnidirectional mobile robots to emulate the parking task from a kinematic point of view. For this aim, a control strategy, based on the feedback linearization techniques, is proposed, obtaining asymptotic convergence to the desired trajectory. Numerical simulations illustrate a comparison between the behavior of the heterogeneous system and a standard n-trailer system while performing the parking task.
AB - This paper proposes a heterogeneous multi-agent robot system, composed of differential-drive robots and omnidirectional mobile robots to emulate the parking task from a kinematic point of view. For this aim, a control strategy, based on the feedback linearization techniques, is proposed, obtaining asymptotic convergence to the desired trajectory. Numerical simulations illustrate a comparison between the behavior of the heterogeneous system and a standard n-trailer system while performing the parking task.
UR - http://www.scopus.com/inward/record.url?scp=85065046481&partnerID=8YFLogxK
U2 - 10.1109/COMROB.2018.8689405
DO - 10.1109/COMROB.2018.8689405
M3 - Contribución a la conferencia
AN - SCOPUS:85065046481
T3 - 2018 20th Congreso Mexicano de Robotica, COMRob 2018
BT - 2018 20th Congreso Mexicano de Robotica, COMRob 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 20th Congreso Mexicano de Robotica, COMRob 2018
Y2 - 12 September 2018 through 14 September 2018
ER -