Cart (Loading....) | Create Account
Close category search window

The Null-Space based Behavioral control for a team of cooperative mobile robots with actuator saturations

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Arrichiello, F. ; Dipt. di Autom., Elettromagnetismo, Ing. dell''Inf. e Mat. Ind., Univ. degli Studi di Cassino, Cassino, Italy ; Chiaverini, S. ; Indiveri, G. ; Pedone, P.

This paper presents the application of the null-space based behavioral (NSB) approach to the motion control of a team of mobile robots with velocity saturated actuators. In particular, the proposed solution aims at managing actuator velocity saturations by dynamically scaling task velocity commands so that the hierarchy of task priorities is preserved in spite of actuator velocity saturations. The approach is tested on a specific case study where the NSB elaborates the motion directives for a team of six mobile robots that has to entrap and to escort a target. The approach is validated by numerical simulations and by experimental results.

Published in:

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Date of Conference:

10-15 Oct. 2009

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.