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Kinematic Control of Platoons of Autonomous Vehicles

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2 Author(s)
Antonelli, G. ; DAEIMI, Univ. degli Studi di Cassino ; Chiaverini, S.

In this paper, an approach to control the motion of a platoon of autonomous vehicles is presented. The proposed technique is based on the definition of suitable task functions that are handled in the framework of singularity-robust task-priority inverse kinematics. The algorithm is implemented by a two-stage control architecture such that intervehicle communication is not required. The effectiveness of the approach is investigated by means of numerical simulation case studies

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Robotics, IEEE Transactions on  (Volume:22 ,  Issue: 6 )