Trajectory Tracking Control of Unicycle Robots with Collision Avoidance and Connectivity Maintenance

Mansour Karkoub, Gokhan Atınç, Dusan Stipanovic, Petros Voulgaris, Andy Hwang

Research output: Contribution to journalArticle


In this paper, we focus on a multiple objective control problem for unicycle robots. By utilizing the gradients of collision avoidance and connectivity potential fields in designing reference orientations, we derive control laws for unicycle robots and show that they can track reference trajectories with bounded errors, which can be made arbitrarily small, while avoiding inter-agent collisions and ensuring that the communication among the agents is maintained. Additionally, we present experimental results where we illustrate the effectiveness of our proposed control laws by implementing them on a testbed with mobile robots.

Original languageEnglish (US)
Pages (from-to)331-343
Number of pages13
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Issue number3-4
StatePublished - Dec 15 2019



  • Collision avoidance
  • Multi-objective control
  • Unicycle robots

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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