This paper studies the problem of coordinated motion generation for a group of rigid bodies. Two classes of coordinated motion primitives, relative equilibria and ma- neuvers, are given as building blocks for generati...This paper studies the problem of coordinated motion generation for a group of rigid bodies. Two classes of coordinated motion primitives, relative equilibria and ma- neuvers, are given as building blocks for generating coordi- nated motions. In a motion-primitive based planning frame- work, a control method is proposed for the robust execution of a coordinated motion plan in the presence of perturba- tions. The control method combines the relative equilibria stabilization with maneuver design, and results in a close- loop motion planning framework. The performance of the control method has been illustrated through a numerical sim- ulation.展开更多
基金supported by the National Natural Science Foundation of China (11072002,10832006)
文摘This paper studies the problem of coordinated motion generation for a group of rigid bodies. Two classes of coordinated motion primitives, relative equilibria and ma- neuvers, are given as building blocks for generating coordi- nated motions. In a motion-primitive based planning frame- work, a control method is proposed for the robust execution of a coordinated motion plan in the presence of perturba- tions. The control method combines the relative equilibria stabilization with maneuver design, and results in a close- loop motion planning framework. The performance of the control method has been illustrated through a numerical sim- ulation.
