Tracking of closed-curve trajectories for multi-robot systems
Lorenzo Sabattini, Cristian Secchi, Cesare Fantuzzi, Daniel de Macedo Possamai · 2010
In this paper we address the trajectory tracking problem for groups of mobile robots. We consider trajectories described by completely arbitrary shaped closed curves. The proposed control strategy is a completely decentralized algorithm, and does not require any global synchronization. The desired behavior is obtained by means of some properly designed artificial potential functions.