Postprint version. Published in Robotics and Autonomous Systems, Volume 46, Issue 2, February 29, 2004, pages 65-78. Copyright © 2004 Elsevier B.V. All rights reserved. The definitive version is available at http://dx.doi.org/10.1016/j.robot.2003.11.004.
NOTE: At the time of publication, the author Christopher Clark was not yet affiliated with Cal Poly.
This paper is concerned with planning the motion of mobile robots in formation, which means certain geometrical constraints are imposed on the relative positions and orientations of the robots throughout their travel. Specifically, a method of planning motion for formations of mobile robots with non-holonomic constraints is presented. The kinematic equations developed allow a certain class of formations to be maintained while the group as a whole exhibits motion. The work was validated using the Stanford Micro-Autonomous RoverS Testbed.