From the 1 of 4 linked papers with an AI index.
4 papers
Finite-Time Curvature-Constrained Vector Field for Saturation-Free Motion Planning of Nonholonomic Robots
Zhouru Xiao, Sha Luo, Yang Lu +5
Accurately steering a robot to a target configuration is fundamental in engineering, yet remains challenging for nonholonomic mobile robots. Vector fields (VFs) provide a natural f…
Curvature-Constrained and Constant-Speed Distributed Simultaneous Arrival Control for Multi-Robot Systems
Zhouru Xiao, Yang Lu, Weijia Yao +2
The paper presents a distributed control method that enables multiple robots with curvature-constrained, constant-speed trajectories to arrive at a target simultaneously, using a h…
Vector Field-Guided Learning Predictive Control for Motion Planning of Mobile Robots with Uncertain Dynamics
Yang Lu, Weijia Yao, Yongqian Xiao +4
In obstacle-dense scenarios, providing safe guidance for mobile robots is critical to improve the safe maneuvering capability. However, the guidance provided by standard guiding ve…
Versatile Distributed Maneuvering with Generalized Formations using Guiding Vector Fields
Yang Lu, Sha Luo, Pengming Zhu +4
This paper presents a unified approach to realize versatile distributed maneuvering with generalized formations. Specifically, we decompose the robots' maneuvers into two independe…