Parameters of Motion for Multi-UGV Control System Performing Joint Transportation

  • Valery Gradetsky
  • Ivan Ermolov
  • Maxim Knyazkov
  • Eugeny Semenov
  • Boris Lapin
  • Sergey Sobolnikov
  • Artem SukhanovEmail author
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11659)


The paper considers an algorithm for calculating the motion parameters for a group of mobile robots performing a joint transport task. The motion of this group of mobile robots is considered on a plane surface. Trajectory of motion passes over different zones with various soil properties. Rectilinear motion and motion along the arc of known radius are considered. The algorithm was successfully tested in previously developed special software for debugging and modelling.


Group robotics Joint transportation task Trajectory motion algorithm Kinematics 



This work is partially supported by RFBR grant № 16-29-04199 and partially supported by the RAS Presidium program “Actual problems of robotic systems”.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Laboratory of Robotics and MechatronicsIshlinsky Institute for Problems in Mechanics RASMoscowRussia
  2. 2.Moscow State Technological University STANKINMoscowRussia

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