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Reduced order motion planning for nonlinear symmetric distributed robotic systems

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2 Author(s)
McMickell, M.B. ; Dept. of Aerosp. & Mech. Eng., Notre Dame Univ., IN, USA ; Goodwine, B.

This paper develops a motion planning algorithm which exploits symmetry in distributed systems to reduce complexity and motion planning design time. The motion planning computations are carried out on a reduced order system, then extended to larger-order equivalent systems in such a way that the objectives of the larger system are satisfied and collision avoidance is guaranteed. The algorithm maintains a rigid body formation as a group robots follows a specified trajectory at the beginning and end of the trajectory. At this point, our algorithm is open loop. A simulation of four robots maintaining a square formation is presented to demonstrate the utility of the algorithm.

Published in:

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on  (Volume:3 )

Date of Conference:

14-19 Sept. 2003