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

• Published in: IEEE access Vol. 13; pp. 57191 - 57206
• Main Authors: Scordamaglia, Valerio, Ferraro, Alessia
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 2025; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Aerospace electronics; Algorithms; Collision avoidance; Constraints; Control algorithms; Control theory; coordinated feasible trajectories planning; Dynamics; Heuristic algorithms; Linear matrix inequalities; Multirobot systems; Planning; Remote control; Robot dynamics; Robot kinematics; Robotics; Robots; Semidefinite programming; set-theoretic methods; Skidding; Tracking errors; Trajectory; Trajectory optimization; Trajectory planning; Trajectory tracking; uncertain systems

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...