Related papers: The south-pointing chariot on a surface
A spherical robot consists of an externally spherical rigid body rolling on a two-dimensional surface, actuated by an auxiliary mechanism. For a class of actuation mechanisms, we derive a controller for the geometric center of the sphere to…
We provide a visual and intuitive introduction to effectively calculating in 2-groups along with explicit examples coming from non-abelian 1- and 2-form gauge theory. In particular, we utilize string diagrams, tools similar to tensor…
For lateral vehicle dynamics, planning trajectories for lane-keeping and lane-change can be generalized as a path planning task to stabilize a vehicle onto a target lane, which is a fundamental element in nowadays autonomous driving…
There is a desire to observe the sun's poles to further deepen our understanding of solar activity. However, because of the large speeds needed to perform out-of-ecliptic plane maneuvers, chemical and electric rocket propulsion mechanisms…
The design of the path-following controller is crucial for reliable autonomous vehicle operation. This design problem is especially challenging for a general 2-trailer with a car-like tractor due to the vehicle's unstable joint-angle…
A conceptual and computational framework is proposed for modelling of human sensorimotor control, and is exemplified for the sensorimotor task of steering a car. The framework emphasises control intermittency, and extends on existing models…
This work focuses on pose-following, a variant of path-following in which the goal is to steer the system's position and attitude along a path with a moving frame attached to it. Full body motion control, while accounting for the additional…
We have carried out car-following experiments with a 25-car-platoon on an open road section to study the relation between a car's speed and its spacing under various traffic conditions, in the hope to resolve a controversy surrounding this…
We provide an explicit geometric algorithm involving only ruler and compass constructions in order to specify the specular reflection point on the surface of a reflecting sphere of radius $r$ given two focal points $A$ and $B$ lying outside…
Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…
The control of a quadrotor is typically split into two subsequent problems: finding desired accelerations to control its position, and controlling its attitude and the total thrust to track these accelerations and to track a yaw angle…
This work addresses the problem of designing a visual servo controller for a multirotor vehicle, with the end goal of tracking a moving spherical target with unknown radius. To address this problem, we first transform two bearing…
We present a simplified model of a vehicle driving on a nonplanar road. A parametric surface is used to describe the nonplanar road which can describe any combination of curvature, bank and slope. We show that the proposed modeling approach…
Complexity of the Operations Research Theory tasks can be often diminished in cases that do not require finding the exact solution. For example, forecasting two-dimensional hierarchical time series leads us to the transportation problem…
In this article we design a backstepping control law based on geometric principles to swing up a spherical pendulum mounted on a moving quadrotor. The available degrees of freedom in the control vector also permit us to position the plane…
In this note we make use of some properties of vector fields on a manifold to give an alternate proof to [3] for the equivalence between connections and parallel transport on vector bundles over manifolds. Out of the proof will emerge a new…
A beer bottle or soda can on a table, when slightly tipped and released, falls to an upright position and then rocks up to a somewhat opposite tilt. Superficially this rocking motion involves a collision when the flat circular base of the…
The system that consists of a ball bouncing off a sawtooth-shaped table vibrating vertically is considered. The horizontal motion in this system is caused by the table shape, and we plotted the mean horizontal velocity as a function of the…
In the first part of the article using a direct calculation two-dimensional motion of a particle sliding on an inclined plane is investigated for general values of friction coefficient ($\mu$). A parametric equation for the trajectory of…
The transport of slightly deformable chiral objects in a uniform shear flow is investigated. Depending on the equilibrium configuration one finds up to four different asymptotic states that can be distinguished by a lateral drift velocity…