Collision-free Coordination of a Group of Unicycle Mobile Robots

D. Kostic, S. Adinandra, J. Caarls, N. Wouw, van de, H. Nijmeijer

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

20 Citations (Scopus)
1 Downloads (Pure)


We propose a method for collision-free coordination of a group of unicycle mobile robots. A supervisory system assigns to each robot its reference path, together with the desired velocity profile as a function of the position along the path. While the collisions of the robots are not acceptable, the reference paths and velocity profiles do not necessarily prevent the collisions. Feedback controllers of individual robots coordinate their motions along the assigned paths such as to ensure collision-free movements. These controllers realize globally asymptotic stable tracking of the reference trajectories under constraints on the actuator inputs. The controllers proposed here offer several advantages with respect to those in the literature, such as better suppression of tracking errors due to more freedom in controller tuning and relaxed constraints on the reference velocities. The coordination method and the feedback control design have been successfully validated in experiments. These ca be used for the realization of autonomous transportation tasks in warehouses, harbors, factories, etc.
Original languageEnglish
Title of host publicationProceedings of the 48th IEEE Conference on Decision and Control (CDC 2009), 16-18, 2009, Shanghai, China
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
ISBN (Print)978-1-4244-3871-6
Publication statusPublished - 2009
Event48th IEEE Conference on Decision and Control, CDC 2009 - "Shanghai International Convention Center", Shanghai, China
Duration: 15 Dec 200918 Dec 2009
Conference number: 48


Conference48th IEEE Conference on Decision and Control, CDC 2009
Abbreviated titleCDC 2009
Other48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Internet address


Dive into the research topics of 'Collision-free Coordination of a Group of Unicycle Mobile Robots'. Together they form a unique fingerprint.

Cite this