Page
%P
-
Chapter
Conclusions and Future Research
This thesis presents extensive theoretical results and applications of guiding vector fields for robot motion control.
-
Book
-
Chapter
Introduction
In this chapter, we first present the background of the thesis on the path-following (navigation) problem. Then we detail the research challenges this thesis deals with and our contributions addressing these c...
-
Chapter
Vanishing Level Value and Convergence To Zero-Level Set
In the vector-field guided path-following problem, the desired path is described by the zero-level set of a sufficiently smooth real-valued function and to follow this path, a (guiding) vector field is designe...
-
Chapter
Topological Analysis of Vector-Field Guided Path Following on Manifolds
A path-following control algorithm enables a system’s trajectories under its guidance to converge to and evolve along a given geometric desired path. There exist various such algorithms, but many of them can o...
-
Chapter
Refined Dichotomy Convergence in Vector-Field Guided Path-Following on \(\mathbb {R}^{n}\)
Under some broad conditions, a dichotomy convergence property in the vector-field guided path-following problem has been proved in previous chapters: the integral curves of a guiding vector field converge to e...
-
Chapter
Guiding Vector Fields for Multi-robot Coordinated Navigation
Tasks requiring repetitive execution, such as environmental monitoring and area patrolling, are more efficiently accomplished by a group of coordinated robots, which are equipped onboard with path-following na...
-
Chapter
A Singularity-Free Guiding Vector Field for Robot Navigation
In robot navigation tasks, such as UAV highway traffic monitoring, it is important for a mobile robot to follow a specified desired path.
-
Chapter
Preliminaries
This chapter provides preliminaries for subsequent theoretical derivation.
-
Chapter
Path Following Control in 3D Using a Vector Field
Using a designed vector field to control a mobile robot to follow a given desired path has found a range of practical applications, and it is in great need to further build a rigorous theory to guide its imple...
-
Chapter
The Domain of Attraction of the Desired Path in Vector-Field Guided Path Following
In the vector-field guided path-following problem, a sufficiently smooth vector field is designed such that its integral curves converge to and propagate along a one-dimensional geometric desired path.
-
Chapter
Guiding Vector Fields for Following Occluded Paths
Accurately following a geometric desired path in a two-dimensional space is a fundamental task for many engineering systems, in particular mobile robots. When the desired path is occluded by obstacles, it is n...
-
Article
Distributed Multi-robot Circumnavigation with Dynamic Spacing and Time Delay
Circumnavigation is the process whereby a single agent or multiple agents rotate around a target while preserving a circular formation, which has promising potential in real-world applications such as entrappi...
-
Article
Distributed Static and Dynamic Circumnavigation Control with Arbitrary Spacings for a Heterogeneous Multi-robot System
Circumnavigation control algorithms enable multiple robots to rotate around a target while they still preserve a circular formation, which is useful in real world applications such as entrap** a hostile targ...
-
Chapter and Conference Paper
Distributed Circumnavigation Control with Dynamic Spacing for a Heterogeneous Multi-robot System
Circumnavigation control is useful in real-world applications such as entrap** a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties,...
-
Chapter
Building Software System and Simulation Environment for RoboCup MSL Soccer Robots Based on ROS and Gazebo
This chapter presents the lesson learned during constructing the software system and simulation environment for our RoboCup Middle Size League (MSL) robots. The software is built based on ROS, thus the advanta...
