Related papers: Uniqueness domains and non singular assembly mode …
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…
As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…
Vector field guided path following (VF-PF) algorithms are fundamental in robot navigation tasks, but may not deliver the desirable performance when robots encounter singular points where the vector field becomes zero. The existence of…
Mobile robotics is a research area that has witnessed incredible advances for the last decades. Robot navigation is an essential task for mobile robots. Many methods are proposed for allowing robots to navigate within different…
Mobile robots are widely used to perform various technological operations in several sectors of the national economy. These operations are related to transporting goods and equipment, performing work to determine the condition of a…
This survey is devoted to discussing the problems of the unique determination of surfaces that are the boundaries of (generally speaking) nonconvex domains. First (in Sec. 2) we examine some results on the problem of the unique…
This paper investigates a situation pointed out in a recent paper, in which a non-singular change of assembly mode of a planar 2-RPR-PR parallel manipulator was realized by encircling a point of multiplicity 4. It is shown that this…
One of the most challenging issues in adaptive control of robot manipulators with kinematic uncertainties is requirement of the inverse of Jacobian matrix in regressor form. This requirement is inevitable in the case of the control of…
We study the problem of determining coordinated motions, of minimum total length, for two arbitrary convex centrally-symmetric (CCS) robots in an otherwise obstacle-free plane. Using the total path length traced by the two robot centres as…
In this paper, we prove the existence of noncollision singularities in a planar four-body problem in a model different from [J. Xue,Acta Math.V224(2)253-388, 2020.]. In this model, the acceleration can be arbitrarily fast and the masses can…
Microscopic symmetries impose strong constraints on the elasticity of a crystalline solid. In addition to the usual spatial symmetries captured by the tensorial character of the elastic tensor, hidden non-spatial symmetries can occur…
When are two germs of analytic systems conjugate or orbitally equivalent under an analytic change of coordinates in the neighborhood of a singular point? A way to answer is to use normal forms. But there are large classes of dynamical…
Implementing virtual fixtures in guiding tasks constrains the movement of the robot's end effector to specific curves within its workspace. However, incorporating guiding frameworks may encounter discontinuities when optimizing the…
The class of linear pentapods with a simple singularity variety is obtained by imposing architectural restrictions on the design in such a way that the manipulators singularity variety is linear in orientation position variables. It turns…
This paper studies the numerical solution of traveling singular sources problems. In such problems, a big challenge is the sources move with different speeds, which are described by some ordinary differential equations. A…
We present a reusable formally verified safety net that provides end-to-end safety and liveness guarantees for 2D waypoint-following of Dubins-type ground robots with tolerances and acceleration. We: i) Model a robot in differential dynamic…
If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…
In this paper, we discuss singular Neumann boundary problem for a class of nonlinear parabolic equations in one space dimension. Our boundary problem describes motion of a planar curve sliding along the boundary with a zero contact angle,…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
The exploration problem in the discrete universe, using identical oblivious asynchronous robots without direct communication, has been well investigated. These robots have sensors that allow them to see their environment and move…