Related papers: Mobius Transformation-Based Circular Motion Contro…
Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties, such as maximum movement…
In this paper, we first propose a novel maneuvering technique compatible with displacement-consensus-based formation controllers. We show that the formation can be translated with an arbitrary velocity by modifying the weights in the…
Robotic systems are frequently deployed in missions that are dull, dirty, and dangerous, where ensuring their safety is of paramount importance when designing stabilizing controllers to achieve their desired goals. This paper addresses the…
This work proposes a novel transformation termed the conformal navigation transformation to achieve collision-free navigation of a robot in a workspace populated with arbitrary polygonal obstacles. The properties of the conformal navigation…
The paper considers a motion control problem for kinematic models of nonholonomic wheeled systems. The class of maneuverable wheeled systems is defined consisting of systems that can follow any sufficiently smooth non-stop trajectory on the…
This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative…
This paper presents a methodology to stabilize some kind of Nonlinear Control system known as Driftless, utilizing the concept of \textit{Pseudo-Kinetic Energy} introduced in this work. Once this controller is applied to the Unicycle-type…
This paper presents an autonomous parking control strategy for an active-joint center-articulated mobile robot. We first derive a kinematic model of the robot, then propose a control law to stabilize the vehicle's configuration within a…
This letter investigates the motion control problem of two mobile robots under allowable collisions. Here, the allowable collisions mean that the collisions do not damage the mobile robots. The occurrence of the collisions is discussed and…
This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…
We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they…
In this paper, we study the feasibility of a class of optimization-based boundary control of one-dimensional macroscopic traffic flow models, where stability and invariance are achieved by a single boundary control. We define the sets of…
In this paper, we address the problem of stabilizing a system around a desired manifold determined by virtual nonlinear nonholonomic constraints. Virtual constraints are relationships imposed on a control system that are rendered invariant…
In this paper, we propose a safety-critical controller based on time-varying control barrier functions (CBFs) for a robot with an unicycle model in the continuous-time domain to achieve navigation and dynamic collision avoidance. Unlike…
This paper studies the tracking control problem for nonholonomic mobile robots based on second order dynamics, with application to consensus tracking and formation tracking. The greatest novelty in this paper is that the reference…
This work addresses the problem of constrained motion control of the uncrewed surface vessels. The constraints are imposed on states/inputs of the vehicles due to the physical limitations, mission requirements, and safety considerations. We…
The paper proposes the stable motion control law design method for non-honomic differential-drive mobile robot with system and measurement noise in discrete time domain. This method is performed basing on dividing operating configuration of…
The steering control of an autonomous unicycle is considered. The underlying dynamical model of a single rolling wheel is discussed regarding the steady state motions and their stability. The unicycle model is introduced as the simplest…
The problem of distributed formation control of nonholonomic mobile robots is addressed in this paper, in which the robots are designed to track a formation. Collision avoidance among agents is guaranteed using a control law based on a…
We give both efficient algorithms and hardness results for reconfiguring between two connected configurations of modules in the hexagonal grid. The reconfiguration moves that we consider are "pivots", where a hexagonal module rotates around…