We consider the problem of designing controllers for nonholonomic mobile robots converging to the source (minimum) of a field. In addition to the mobility constraints posed by the ...
Shun-ichi Azuma, Mahmut Selman Sakar, George J. Pa...
Abstract-- This work studies a class of hybrid mechanical systems that locomote by switching between constraints defining different dynamic regimes. We develop a geometric framewor...
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...
— This paper studies the optimal motion control of mechanical systems through a discrete geometric approach. At the core of our formulation is a discrete Lagrange-d’AlembertPon...
Marin Kobilarov, Mathieu Desbrun, Jerrold E. Marsd...