204 search results - page 1 / 41 » Optimal Control Using Nonholonomic Integrators |
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
Abstract— This paper addresses the optimal control of nonholonomic systems through provably correct discretization of the system dynamics. The essence of the approach lies in the...
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...
ICRA
2005
IEEE
13 years 10 months ago
2005
IEEE
— We present a semi-parametric control policy representation and use it to solve a series of nonholonomic control problems with input state spaces of up to 7 dimensions. A neares...
ICRA
1998
IEEE
13 years 9 months ago
1998
IEEE
We have developed a multiagent robotic system including perception, cognition, and action components to function in a dynamicenvironment. The system involves the integration and c...
ICRA
2010
IEEE
13 years 3 months ago
2010
IEEE
— We consider the kinematic control problem for nonholonomic mobile manipulators (NMMs) whose base contains steering wheels. For all typical tasks, the steering velocity inputs o...