摘要：AbstractSeveral non-holonomic constant-speed under-actuated robots with lower-limited turning radii travel in 3D. Every robot has access only to its own coordinate and the coordinates of close neighbors along a certain specific space direction (typically, vertical), as well as to the current value of an unknown dynamic scalar field. Starting from occasional locations, all robots should arrive at the isosurface with the given field value. Then they should evenly distribute themselves over a pre-specified range of the “altitudes” and repeatedly encircle the isosurface while remaining on it, each at its own “altitude”. A decentralized control law is presented that solves this mission. This law is justified by a rigorous global convergence result; its performance is confirmed by computer simulation tests.
关键词：KeywordsCoordination of multiple vehicle systemsNonlinear systemsNetworked robotic systems
