The DOI matches its Crossref record; 37 of the 37 references it cites were found in a registry or an index.
Nonholonomic navigation and control of cooperating mobile manipulators
Open accessAbstract
This paper presents the first motion planning methodology applicable to articulated, nonpoint nonholonomic robots with guaranteed collision avoidance and convergence properties. It is based on a new class of nonsmooth Lyapunov functions and a novel extension of the navigation function method to account for nonpoint articulated robots. The dipolar inverse Lyapunov functions introduced are appropriate for nonholonomic control and offer superior performance characteristics compared to existing tools. The new potential field technique uses diffeomorphic transformations and exploits the resulting point-world topology. The combined approach is applied to the problem of handling deformable material by multiple nonholonomic mobile manipulators in an obstacle environment to yield a centralized coordinating control law. Simulation results verify asymptotic convergence of the robots, obstacle avoidance, boundedness of object deformations, and singularity avoidance for the manipulators.
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Cites
A Mathematical Introduction to Robotic Manipulation
Murray, R. M., Li, Z., & Sastry, S. S. (2017) · CRC Press eBooks · doi:10.1201/9781315136370 · Cited by 6,694
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Probabilistic roadmaps for path planning in high-dimensional configuration spaces
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Flatness and defect of non-linear systems: introductory theory and examples
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A Mathmematical Introduction to Robotic Manipulation
Murray, R. M., Li, Z., & Sastry, S. (1994) · Cited by 2,676
An algorithm for planning collision-free paths among polyhedral obstacles
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Exact robot navigation using artificial potential functions
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Nonholonomic motion planning: steering using sinusoids
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Optimal paths for a car that goes both forwards and backwards
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Cited by
Dual arm manipulation—A survey
Smith, C., Karayiannidis, Y., Nalpantidis, L., Gratal, X., Qi, P., Dimarogonas, D. V., & Kragic, D. (2012) · Robotics and Autonomous Systems · doi:10.1016/j.robot.2012.07.005 · Cited by 560
Metadata
- Authors
- Tanner, H. G., Loizou, S. G., & Kyriakopoulos, K. J.
- Venue
- IEEE Transactions on Robotics and Automation
- Published
- 2003-02
- Volume
- 19
- Issue
- 1
- Pages
- 53-64
- ISSN
- 1042-296X (ISSN-L)
- OpenAlex
- W2119955255
- Cited by
- 305
- References
- 37
- FWCI
- 32.35
- Type
- journal article
- Language
- en
- Open access
- green
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