In this work, we consider the control of platoons of cooperating nonholonomic vehicles. Using techniques based on redundant manipulator control, the platoon is treated as a single entity with a set of platoon-level objectives. The class of tricyclelike robots, with limits on steering and speed, is chosen because it represents a vast class of real, nonholonomic vehicles beyond the basic differential drive. The method presented uses platoon redundancy to limit the impact of vehicle constraints on the platoon-level objectives. A simulation study is presented to show the efficacy of the method.

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