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In this study, a model for wheeled mobile robots that includes a static friction model in the force balance at the robot's center of mass is presented. Additionally, a least-squares method to linearly combine functions is proposed to estimate the friction coefficients. The experimental and simulation results are discussed to demonstrate the effectiveness of this approach in indoor environments for two floor types.
This paper discusses about a proposed solution to the obstacle avoidance problem in multi-robot systems when applied to active target tracking. It is explained how a nonlinear model predictive formation control (NMPFC) previously proposed solves this problem of fixed and moving obstacle avoidance. First, an approach is presented which uses potential functions as terms of the NMPFC. These terms penalize the proximity with mates and obstacles. A strategy to avoid singularity problems with the potential functions using a modified A* path planning algorithm was then introduced. Results with simulations and experiments with real robots are presented and discussed demonstrating the efficiency of the proposed approach.
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