10 search results - page 1 / 2 » An Integrated Path Planning and Control Framework for Nonhol... |
ICRA
2005
IEEE
13 years 10 months ago
2005
IEEE
— In this paper, navigation and control of autonomous mobile unicycle robots in a complex and partially known obstacleridden environment is considered. The unicycle dynamic model...
ROBOCUP
2001
Springer
13 years 9 months ago
2001
Springer
A nonlinear control law to steer the unicycle model to a static or dynamic target pose is presented. If the target is static the control signals are smooth in their arguments and t...
ICRA
1994
IEEE
13 years 8 months ago
1994
IEEE
We present a simple approach for planning the motion of nonholonomic robots among obstacles. Existing methods lead to open-loop solutions which are either obtained in two stages, ...
ISER
2004
Springer
13 years 10 months ago
2004
Springer
As a flexible needle with a bevel tip is pushed through soft tissue, the asymmetry of the tip causes the needle to bend. We propose that, by using nonholonomic kinematics, contro...
ICRA
2010
IEEE
13 years 2 months ago
2010
IEEE
This paper introduces a framework that guides the design of stabilizing feedback control laws for systems with Pfaffian constraints. A new class of N-dimensional vector fields, the...