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dc.contributor.authorRezapour, Ehsan
dc.contributor.authorPettersen, Kristin Ytterstad
dc.contributor.authorGravdahl, Jan Tommy
dc.contributor.authorHofmann, Andreas
dc.date.accessioned2016-09-05T15:15:55Z
dc.date.accessioned2016-09-09T07:23:26Z
dc.date.available2016-09-05T15:15:55Z
dc.date.available2016-09-09T07:23:26Z
dc.date.issued2016
dc.identifier.citationArtificial Life and Robotics 2016, 21(3)nb_NO
dc.identifier.issn1614-7456
dc.identifier.urihttp://hdl.handle.net/11250/2405627
dc.description.abstractThis paper considers formation control of snake robots. In particular, based on a simplified locomotion model, and using the method of virtual holonomic constraints, we control the body shape of the robot to a desired gait pattern defined by some pre-specified constraint functions. These functions are dynamic in that they depend on the state variables of two compensators which are used to control the orientation and planar position of the robot, making this a dynamic maneuvering control strategy. Furthermore, using a formation control strategy we make the multi-agent system converge to and keep a desired geometric formation, and enforce the formation follow a desired straight line path with a given speed profile. Specifically, we use the proposed maneuvering controller to solve the formation control problem for a group of snake robots by synchronizing the commanded velocities of the robots. Simulation results are presented which illustrate the successful performance of the theoretical approach.nb_NO
dc.language.isoengnb_NO
dc.publisherSpringer Verlagnb_NO
dc.titleFormation Control of Underactuated Bio-inspired Snake Robotsnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.date.updated2016-09-05T15:15:55Z
dc.source.volume21nb_NO
dc.source.journalArtificial Life and Roboticsnb_NO
dc.source.issue3nb_NO
dc.identifier.doi10.1007/s10015-016-0297-2
dc.identifier.cristin1374142
dc.relation.projectNorges forskningsråd: 223254nb_NO
dc.description.localcode© ISAROB 2016. This is the authors' accepted and refereed manuscript to the article. Locked until 2017-07-27.nb_NO


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