| Description |
xi, 95 leaves : illustrations ; 28 cm. |
| Summary |
"In this thesis, the framework developed to control a single nonholonomic mobile robot is expanded to include the control of formations of multiple nonholonomic mobile robots. A combined kinematic/torque control law is developed for leader-follower based formation control using backstepping in order to accommodate the dynamics of the robots and the formation in contrast with kinematic-based formation controllers typically found in literature"--Abstract, leaf iv. |
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