Kinematic path-planning for formations of mobile robots with a nonholonomic constraint
Barfoot, T.D.; Clark, C.M.; Rock, S.M.; Dapos;Eleuterio, G.M.T.
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Volume 3, Issue , 2002 Page(s): 2819 - 2824 vol.3
Digital Object Identifier   10.1109/IRDS.2002.1041697
Summary: A method of planning paths for formations of mobile robots with nonholonomic constraints is presented. The kinematics equations presented in this paper allow a general geometrical formation of mobile robots to be maintained while the group as a whole travels an arbitrary path. It is possible to represent a formation of mobile robots by a single entity with the same type of nonholonomic constraint as the individual members. Thus, any path-planner or control method may be used with the formation as would be applied to an individual robot. Equations are developed for changing the geometrical formation and hardware results are presented from the Stanford MARS Testbed.

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