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Circular motion generation for mobile robots using limit cycle systems — Application to a circular formation control

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3 Author(s)
Ken-ichi Yamada ; Department of Electrical and Information Systems, Osaka Prefecture University, Osaka, Japan ; Naoyuki Hara ; Keiji Konishi

This paper considers a circular formation control method for multiple mobile robots. We provide a circular formation control law such that multiple mobile robots converge to a circular path and form an equally spaced configuration. Numerical and experimental results are presented to demonstrate the proposed control method.

Published in:

SICE Annual Conference (SICE), 2011 Proceedings of

Date of Conference:

13-18 Sept. 2011