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• W2061576971 abstract "In this paper, we present a framework that applies multiple groups of autonomous snowploughs for efficiently removing the snow from airfields. The proposed approach includes formation stabilization into variable shapes depending on the width of runways. The paper is focused on trajectory planning and control during splitting and coupling of formations for cleaning smaller auxiliary roads surrounding main runways. We propose a general method using a receding horizon control for iterative formation assignment. The algorithm is adapted for the kinematics of car-like robots and can be utilized in arbitrary static and dynamic airport assemblage. The proposed approach has been verified by simulations and by hardware experiments." @default.
• W2061576971 created "2016-06-24" @default.
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• W2061576971 date "2010-10-01" @default.
• W2061576971 modified "2023-10-17" @default.
• W2061576971 title "Control of ad-hoc formations for autonomous airport snow shoveling" @default.
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• W2061576971 doi "https://doi.org/10.1109/iros.2010.5650712" @default.
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