@inproceedings{16b2a3aebe4a4085b75ed454b64ecdf1,
title = "Coordination of a group of mobile robots based on discrete models",
abstract = "In this paper, the problem of coordination control in the formation of a finite group of mobile robots based on its discrete-time model is addressed. The objective is to use their exact discrete kinematic model to obtain a control law, which must assure that each robot hold its position in a particular formation while they follow a desired path. The stability of the formation of the group of robots in closed loop with the control law is studied using Lyapunov techniques and the proposed scheme is evaluated through experimentation.",
keywords = "coordination, formation, Path following, synchronization, systems in cascade",
author = "C. Mitre-Arreguin and R. Castro-Linares and M. Velasco-Villa and M. Duarte-Mermoud",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 12th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2015 ; Conference date: 26-10-2015 Through 30-10-2015",
year = "2015",
month = dec,
day = "14",
doi = "10.1109/ICEEE.2015.7357996",
language = "English",
series = "2015 12th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2015",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "2015 12th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2015",
}