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Formation control algorithm for a fleet of mobile robots

Abstract : The necessity of decreasing the environmental impact of agricultural activities, while preserving the level of production to satisfy growing population demands requires investigation of new production tools. Mobile robots may constitute a promising solution, since autonomous devices may allow increasing production levels, while preserving the environment thanks to their high accuracy. In this paper, the use of several autonomous mobile robots to perform field operation is investigated. In particular, predictive techniques are also proposed to account for delays induced by low-level actuators. Capabilities of the proposed approach are investigated through full scale experiments.
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Submitted on : Wednesday, February 27, 2013 - 10:25:18 AM
Last modification on : Monday, June 27, 2022 - 11:32:52 AM
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  • HAL Id : hal-00795040, version 1
  • IRSTEA : PUB00036610


P. Cartade, R Lenain, Benoît Thuilot, M. Berducat. Formation control algorithm for a fleet of mobile robots. 3rd International Conference on Machine Control & Guidance, Mar 2012, Stuttgart, Germany. p. - p. ⟨hal-00795040⟩



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