id	author	title	date	pages	extension	mime	words	sentence	flesch	summary	cache	txt
ap-3488	Dong, Youwei; Rahmani, Ahmed	FORMATION CONTROL OF MULTIPLE UNICYCLE-TYPE ROBOTS USING LIE GROUP	2016	9	.pdf	application/pdf	6260	372	73	Lie algebra application to mobile robot control: a tutorial. [xI , yI ]T position of robot in frame FI gi ∈ SE(2) configuration of local frame attached to robot- i relative to frame FI gij configuration of robot-j relative to the local frame attached to robot-i ḡij desired configuration of robot-j relative to robot-i B = (0, r) the centre of a circle of which the radius is |r| A = [x, y]T position of robot gi in frame O′X	cache/ap-3488.pdf	txt/ap-3488.txt