@inproceedings{5468844ea04547c39fd55b09fb8919a5,
title = "Trajectory tracking strategies with singularities avoidance for groups of unicycle-type robots",
abstract = "This paper presents the design and analysis of three trajectory tracking control strategies for groups of unicycle-type robots using the leader-followers scheme. The leader converges asymptotically to a predefined trajectory path while the follower robots achieve a desired formation pattern at same time. The control laws are based on a dynamical extension of the kinematic model of unicycles considering the midpoint of the wheels axis of the robots as output function. When the linear velocity of unicycles is close to zero, a complementary control law is enabled momentarily to avoid singularities. It is demonstrated that in the switched closed-loop system, the orientation angles converge to the same value. Finally, some numerical simulations and real-time experiments show the performance of the control strategies.",
keywords = "Decentralized control, Formation control, Mobile robots, Trajectory tracking, Unicycles",
author = "J. Gonz{\'a}lez-Sierra and E. Aranda-Bricaire and Hern{\'a}ndez-Mart{\'i}nez, {E. G.}",
note = "Funding Information: The authors acknowledge financial support from CONACyT and COMECyT, Mexico.",
year = "2011",
doi = "10.3182/20110828-6-IT-1002.01703",
language = "Ingl{\'e}s",
isbn = "9783902661937",
series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
publisher = "IFAC Secretariat",
number = "1 PART 1",
pages = "5926--5931",
booktitle = "Proceedings of the 18th IFAC World Congress",
address = "Austria",
edition = "1 PART 1",
}