相关论文: The south-pointing chariot on a surface

Quadrotors with the ability to perch on moving inclined surfaces can save energy and extend their travel distance by leveraging ground vehicles. Achieving dynamic perching places high demands on the performance of trajectory planning and…

In this article, two methods of addressing path planning for a Dubins vehicle moving on a sphere are considered, wherein either spherical coordinates or a moving frame are considered to describe the vehicle's motion. The primary…

The two-dimensional motion of an object on a moving rough horizontal plane is investigated. Two cases are studied: the plane having a translational acceleration, and a rotating plane. For the first case, the motions of a point particle and…

This article presents an in-depth review of the topic of path following for autonomous robotic vehicles, with a specific focus on vehicle motion in two dimensional space (2D). From a control system standpoint, path following can be…

Several scenarios used in teaching feature a rolling motion with slipping that transitions to one without through friction with the ground. We summarise these transitions by introducing an unknown impulse that is transferred to the ground.…

A concise discussion of the axiomatic approach to the concept of parallel transport is presented. Attention is drawn to a bijective map between the sets of connections and (axiomatically defined) parallel transports. The transports along…

The work studies a number of approaches to solving motion planning problem for a mobile robot with a trailer. Different control models of car-like robots are considered from the differential-geometric point of view. The same models can be…

A simple mechanical device is introduced, the parallelometer, that can be used to measure curvatures of surfaces. The device can be used as a practical illustration of parallel transport of a vector and to study Berry phase shift when it is…

We use mass-transportation as a tool to compare surfaces (2-manifolds). In particular, we determine the "similarity" of two given surfaces by solving a mass-transportation problem between their conformal densities. This mass transportation…

Motion prediction of surrounding vehicles is one of the most important tasks handled by a self-driving vehicle, and represents a critical step in the autonomous system necessary to ensure safety for all the involved traffic actors. Recently…

In this article, a simplified modeling and system identification procedure for yaw motion of an unmanned surface vehicle (USV) is presented. Two thrusters that allow for both speed and direction control propel the USV. The outputs of the…

In this paper, we study how to find rational motions that move a line along a given rational ruled surface. Our goal is to find motions with the lowest possible degree using dual quaternions. While similar problems for point trajectories…

By analyzing data from a car-following experiment, it is shown that drivers control their car by a simple scheme. The acceleration $a(t)$ is held approximately constant for a certain time interval, followed by a jump to a new acceleration.…

We analyze the transition between pulled and pushed fronts both analytically and numerically from a model-independent perspective. Based on minimal conceptual assumptions, we show that pushed fronts bifurcate from a branch of pulled fronts…

Tracked vehicles distribute their weight continuously over a large surface area (the tracks). This distinctive feature makes them the preferred choice for vehicles required to traverse soft and uneven terrain. From a robotics perspective,…

The problem of a disc or cylinder initially rolling with slipping on a surface and subsequently transitioning to rolling without slipping is often cited in textbooks. The following experiment serves to clearly demonstrate the transition…

We consider the problem of a sphere rolling of a curved surface and solve it by mapping it to the precession of a spin 1/2 in a magnetic field of variable magnitude and direction. The mapping can be of pedagogical use in discussing both…

In this paper we start with a simple question, how is it possible that humans can recognize different movements over skin with only a prior visual experience of them? Or in general, what is the representation of spatial sequences that are…

The paper solves the problem of tracking control of a quadrotor with unmeasurable pitch and roll angles based on the geometric approach with the use of the enhanced extended observer and the internal model. The proposed approach makes it…

We obtain a numerical solution for the synchronous motion of two spheres moving in viscous fluid. We find that for a given amount of work performed, the final distance travelled by each sphere is increased by the presence of the other…