01487nas a2200181 4500008004100000245007400041210006900115260001200184300001400196490000700210520093400217653002101151653001301172100001401185700001601199700001901215856007101234 2016 eng d00aControllability analysis of a pair of 3D Dubins vehicles in formation0 aControllability analysis of a pair of 3D Dubins vehicles in form c09/2016 a94 - 1050 v833 a
In this paper we consider the controllability problem for a system consisting of a pair of Dubins vehicles moving in a 3D space (i.e. pair of 3D–Dubins vehicles) while maintaining constant distance. Necessary and sufficient conditions for the existence of a limited control effort to steer the system between any two configurations are provided. The proposed controllability analysis and the developed motion planning algorithm are a step toward the solution of planning problems for example in case the robots are physically constrained to a payload to be deployed. Moreover, results obtained in this paper are relevant in order to solve formation control problems for multiple robots as aerial or underwater vehicles, which move in 3D spaces. Simulation results highlight the sufficiency of the obtained conditions showing that even from critical configurations an admissible control can be determined.
10aEmbedded Control10aRobotics1 aMarino, H1 aSalaris, P.1 aPallottino, L. uhttp://www.sciencedirect.com/science/article/pii/S0921889015301202