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12 Result(s)
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Chapter
Conclusions and Future Research
This thesis presents extensive theoretical results and applications of guiding vector fields for robot motion control.
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Book
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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...
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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...
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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...
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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...
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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...
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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.
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Chapter
Preliminaries
This chapter provides preliminaries for subsequent theoretical derivation.
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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...
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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.
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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...
