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Cited by 1,158

The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.

Modeling and control of formations of nonholonomic mobile robots

Open access
Desai, J.P., Ostrowski, J.P., Kumar, V.·2001·IEEE Transactions on Robotics and Automation
DOI 10.1109/70.976023
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Abstract

This paper addresses the control of a team of nonholonomic mobile robots navigating in a terrain with obstacles while maintaining a desired formation and changing formations when required, using graph theory. We model the team as a triple, (g, r, H), consisting of a group element g that describes the gross position of the lead robot, a set of shape variables r that describe the relative positions of robots, and a control graph H that describes the behaviors of the robots in the formation. Our framework enables the representation and enumeration of possible control graphs and the coordination of transitions between any two formations.

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Metadata

Authors
Desai, J. P., Ostrowski, J. P., & Kumar, V.
Venue
IEEE Transactions on Robotics and Automation
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Published
2001
Volume
17
Issue
6
Pages
905-908
ISSN
1042-296X (ISSN-L)
DOI
10.1109/70.976023
OpenAlex
W2147928602
Cited by
1,158
References
1
FWCI
39.45
Type
journal article
Language
en
Open access
green

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CoChat. (2026). Citation check: Modeling and control of formations of nonholonomic mobile robots. https://app.cochat.ai/papers/10.1109/70.976023
The paper
Desai, J. P., Ostrowski, J. P., & Kumar, V. (2001). Modeling and control of formations of nonholonomic mobile robots. IEEE Transactions on Robotics and Automation. https://doi.org/10.1109/70.976023

Data sources

Bibliographic data: Semantic Scholar, OpenAlex, Crossref.

Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).

Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.