Related papers: Mobius Transformation-Based Circular Motion Contro…
This paper addresses the problem of collective circular motion control for unicycle agents, with the objective of achieving phase coordination of their velocity vectors while ensuring that their trajectories remain confined within a…
In the formation control problem for autonomous robots a distributed control law steers the robots to the desired target formation. A local stability result of the target formation can be derived by methods of linearization and center…
This paper presents tracking control laws for two different objectives of a nonholonomic system - a spherical robot - using a geometric approach. The first control law addresses orientation tracking using a modified trace potential…
In this paper, we present a new leader-follower type solution to the formation maneuvering problem for multiple, nonholonomic wheeled mobile robots. The solution is based on the graph that models the coordination among the robots being a…
Consider a set of $n$ simple autonomous mobile robots (asynchronous, no common coordinate system, no identities, no central coordination, no direct communication, no memory of the past, non-rigid, deterministic) initially in distinct…
This paper presents a control law for stabilization and trajectory tracking of a multicopter subject to safety constraints. The proposed approach guarantees forward invariance of a prescribed safety set while ensuring smooth tracking…
In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to have the form of a disk with equal radius. Based on interior…
We study the problem of coordinating multiple robots along fixed geometric paths. Our contribution is threefold. First we formalize the intuitive concept of priorities as a binary relation induced by a feasible coordination solution,…
In this paper, we address the stabilization problem for force-controlled nonholonomic mobile robots under safety-critical constraints. We propose a continuous, time-invariant control law based on the gamma m-quadratic programming (gamma…
This paper presents a solution to the rendezvous control problem for a network of kinematic unicycles in the plane, each equipped with an onboard camera measuring its relative displacement with respect to its neighbors in body frame…
We introduce and analyze a model for self-reconfigurable robots made up of unit-cube modules. Compared to past models, our model aims to newly capture two important practical aspects of real-world robots. First, modules often do not occupy…
Robot manipulators are often tasked with working in environments with vibrations and are subject to load uncertainty. Providing an accurate tracking control design with implementable torque input for these robots is a complex topic. This…
In this work, we present solutions to the flocking and target interception problems of multiple nonholonomic unicycle-type robots using the distance-based framework. The control laws are designed at the kinematic level and are based on the…
The safety and security of robotic systems are paramount when navigating around a hostile target. This paper addresses the problem of circumnavigating an unknown target by a unicycle robot while ensuring it maintains a desired safe distance…
The single wheel, gyroscopically stabilized robot - Gyrover, is a dynamically stable but statically unstable, underactuated system. In this paper, based on the dynamic model of the robot, we investigate two classes of nonholonomic…
We consider a single non-holonomic Dubins-like robot traveling with a constant longitudinal speed in an a priori unknown and unsteady planar environment. The robot should detect, locate, and track the boundary of a dynamic environmental…
Safe and smooth motion control is essential for mobile robots when performing various automation tasks around obstacles, especially in the presence of people and other mobile robots. The total turning and space used by a mobile robot while…
We consider the problem of bearing-based visual homing: Given a mobile robot which can measure bearing directions with respect to known landmarks, the goal is to guide the robot toward a desired "home" location. We propose a control law…
In this paper we propose an algorithm for stabilizing circular formations of fixed-wing UAVs with constant speeds. The algorithm is based on the idea of tracking circles with different radii in order to control the inter-vehicle phases with…
Multi-robot systems, particularly mobile manipulators, face challenges in control coordination and dynamic stability when working together. To address this issue, this study proposes MobiDock, a modular self-reconfigurable mobile…