A Set-Based Method for Planning Coordinated Trajectories for Skid-Steered Robotic Units Subject to Constraints, Uncertainties, and External Disturbances

A Set-Based Method for Planning Coordinated Trajectories for Skid-Steered Robotic Units Subject to Constraints, Uncertainties, and External Disturbances

This paper introduces a method for planning coordinated trajectories for a group of remotely-controlled, skid-steered robotic units with limited motion capabilities, subject to skidding and slipping phenomena. The proposed solution aims to define optimal trajectories that can be simultaneously track...

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Bibliographic Details
Main Authors: Valerio Scordamaglia, Alessia Ferraro
Format: Article
Language:English
Published: IEEE 2025-01-01
Series:IEEE Access
Subjects:
Multirobot systems
coordinated feasible trajectories planning
set-theoretic methods
uncertain systems
semidefinite programming
linear matrix inequalities
Online Access:https://ieeexplore.ieee.org/document/10943140/
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