@article{Antonelli2008c,
  author = {Antonelli, Gianluca and Arrichiello, Filippo and Chiaverini, Stefano},
  title = {The entrapment/ escorting mission},
  journal = {IEEE Robotics and Automation Magazine},
  volume = {15},
  number = {1},
  doi = {10.1109/M-RA.2007.914932},
  issn = {ISSN(print='10709932', electronic=None)},
  abstract = {A study was conducted to demonstrate that the entrapment/escorting mission was handled by resorting to the kinematic control. The proposed approach was based on a new kind of behavioral control, known as the null space-based behavioral (NSB) control. This method differed from other existing behavioral coordination methods in the way that the outputs of the single elementary behaviors were merged to compose the final behavior. The NSB had been extensively tested in formation control missions, while its application to the entrapment/escorting mission was discussed in the study. The control strategy had been validated both simulation and in several experimental case studies where a team of six Khepera II mobile robots had to entrap a moving target represented by a tennis ball randomly pushed by hand. The simulative and experimental results showed the effectiveness of the approach in dealing with the established targets.},
  year = {2008},
}

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