Robots in a team are modeled as particles which obey simple, second order dynamics. The whole team can be viewed as a deformable body with changing shape and orientation. Jacobi shape theory is applied to model such a formation. We derive the controlled system equations using the Lagrange-D’Alembert principle. Control forces on each robot are combined and reorganized as controls for the center, for rotation and for shape changes…
Author: Zhang, Fumin
Source: University of Maryland
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