Mostrar el registro sencillo del ítem
dc.contributor.author
Stanhouse, Kyle
dc.contributor.author
Kitts, Chris
dc.contributor.author
Mas, Ignacio Agustin
dc.contributor.other
Wang, Guanghui
dc.date.available
2020-06-23T15:28:40Z
dc.date.issued
2016
dc.identifier.citation
Stanhouse, Kyle; Kitts, Chris; Mas, Ignacio Agustin; Time-Energy Optimal Cluster Space Motion Planning for Mobile Robot Formations; IntechOpen; 2016; 141-163
dc.identifier.isbn
978-953-51-2571-6
dc.identifier.uri
http://hdl.handle.net/11336/107920
dc.description.abstract
The motions of a formation of mobile robots along predetermined paths are optimized according to a tunable time-energy cost function using the cluster space approach to multiagent system specification and control. Upon path-parameterizing cluster state variables describing the geometry and pose of a multirobot group, an optimal control problem is formulated that incorporates formation dynamics and state constraints. The optimal trajectory is derived numerically via a gradient search, iterating over the initial value of one costate. A multirobot formation control simulation is then used to demonstrate the effectiveness of the technique. Results indicate that a substantial tradeoff is made between energy expenditure and motion time when considered as minimization criteria in varying proportions, allowing the operator to tailor mission trajectories according to desired levels of each.
dc.format
application/pdf
dc.language.iso
eng
dc.publisher
IntechOpen
dc.rights
info:eu-repo/semantics/openAccess
dc.rights.uri
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.subject
mobile robots
dc.subject
time-energy optimization
dc.subject
motion planning
dc.subject
multi-robot systems
dc.subject.classification
Control Automático y Robótica
dc.subject.classification
Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información
dc.subject.classification
INGENIERÍAS Y TECNOLOGÍAS
dc.title
Time-Energy Optimal Cluster Space Motion Planning for Mobile Robot Formations
dc.type
info:eu-repo/semantics/publishedVersion
dc.type
info:eu-repo/semantics/bookPart
dc.type
info:ar-repo/semantics/parte de libro
dc.date.updated
2020-06-18T15:11:36Z
dc.journal.pagination
141-163
dc.journal.pais
Croacia
dc.description.fil
Fil: Stanhouse, Kyle. No especifíca;
dc.description.fil
Fil: Kitts, Chris. No especifíca;
dc.description.fil
Fil: Mas, Ignacio Agustin. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Instituto Tecnológico de Buenos Aires. Departamento de Matemática. Centro de Sistemas y Control; Argentina
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/url/http://www.intechopen.com/books/recent-advances-in-robotic-systems/time-energy-optimal-cluster-space-motion-planning-for-mobile-robot-formations
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/doi/http://dx.doi.org/10.5772/64615
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/url/https://www.intechopen.com/books/recent-advances-in-robotic-systems
dc.conicet.paginas
292
dc.source.titulo
Recent Advances in Robotic Systems
Archivos asociados