相关论文: Reactive Kinematic Navigation among Moving and Def…

We present technical results justifying a method for guidance of a Dubins-like vehicle with saturated control towards a target in a steady simply connected maze-like environment. The vehicle always has access to to the target relative…

In this paper, we address the problem of circumnavigation of a stationary target by a heterogeneous group comprising of $\textbf{n}$ autonomous agents, having unicycle kinematics. The agents are assumed to have constant linear speeds, we…

We propose a continuous feedback control strategy that steers a point-mass vehicle safely to a destination, in a quasi-optimal manner, in sphere worlds. The main idea consists in avoiding each obstacle via the shortest path on the cone's…

The task of intercepting a target moving along a rectilinear or circular trajectory by a Dubins' car is formulated as a time-optimal control problem with an arbitrary direction of the car's velocity at the interception moment. To solve this…

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…

We consider a single kinematically controlled robot with a bounded control range. The robot travels in a two-dimensional region supporting an unknown unsteady scalar field. A single sensor provides the field value at the current location of…

The control of a Dubins Vehicle when subjected to a loss of control effectiveness in the turning rate is considered. A complex state-space representation is used to model the vehicle dynamics. An adaptive control design is proposed, with…

This paper presents a framework for stabilizing the Dubins vehicle model to zero in finite time (deadbeat parking) by interpreting distance as a time-like variable. We develop control laws that bring the system to a desired position and…

This paper presents a robust tracking controller for tracking curvature-constrained paths by vehicles/robots with uncertain Dubins dynamics. Although Dubins paths have been widely used in vehicular and robotic applications, robust and…

In this work, we propose a learning based neural model that provides both the longitudinal and lateral control commands to simultaneously navigate multiple vehicles. The goal is to ensure that each vehicle reaches a desired target state…

An underactuated nonholonomic Dubins-vehicle-like robot with a lower-limited turning radius travels with a constant speed in a plane, which hosts unknown complex objects. The robot has to approach and then circumnavigate all objects, with…

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…

This paper proposes an end-to-end deep reinforcement learning approach for mobile robot navigation with dynamic obstacles avoidance. Using experience collected in a simulation environment, a convolutional neural network (CNN) is trained to…

Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…

In this paper, a novel, dual-mode model predictive control framework is introduced that combines the dynamic window approach to navigation with reference tracking controllers. This adds a deliberative component to the obstacle avoidance…

In this paper, we consider the problem of controlling an underactuated system in unknown, and potentially adversarial environments. The emphasis will be on autonomous aerial vehicles, modelled by Dubins dynamics. The proposed control law is…

A nonholonomic under-actuated robot with a bounded control range travels inside an unknown and unstructured 3D tunnel bounded by a generic 2D surface. The robot has access to the nearest point of the surface and measures the distance to the…

Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…

This work aims to design an optimization-based controller for a discrete-time Dubins vehicle to approach a target with unknown position as fast as possible by only using bearing measurements. To this end, we propose a bi-objective…

We formulate a novel planar motion planning problem for a Dubins-Laser system that consists of a Dubins vehicle with an attached controllable laser. The vehicle moves with unit speed and the laser, having a finite range, can rotate in a…