47 citations · 68 across the 17 of their papers we have counts for
17 papers
Spontaneous-Ordering Platoon Control for Multirobot Path Navigation Using Guiding Vector Fields
Bin-Bin Hu, Hai-Tao Zhang, Weijia Yao +2
In this paper, we propose a distributed guiding-vector-field (DGVF) algorithm for a team of robots to form a spontaneous-ordering platoon moving along a predefined desired path in…
Resilient source seeking with robot swarms
Antonio Acuaviva, Jesus Bautista, Weijia Yao +2
We present a solution for locating the source, or maximum, of an unknown scalar field using a swarm of mobile robots. Unlike relying on the traditional gradient information, the sw…
Learning-based Near-optimal Motion Planning for Intelligent Vehicles with Uncertain Dynamics
Yang Lu, Xinglong Zhang, Xin Xu +1
Motion planning has been an important research topic in achieving safe and flexible maneuvers for intelligent vehicles. However, it remains challenging to realize efficient and opt…
A Novel Vector-Field-Based Motion Planning Algorithm for 3D Nonholonomic Robots
Xiaodong He, Weijia Yao, Zhiyong Sun +1
This paper focuses on the motion planning for mobile robots in 3D, which are modelled by 6-DOF rigid body systems with nonholonomic kinematics constraints. We not only specify the…
The Domain of Attraction of the Desired Path in Vector-field Guided Path Following
Weijia Yao, Bohuan Lin, Brian D. O. Anderson +1
In the vector-field guided path-following problem, a sufficiently smooth vector field is designed such that its integral curves converge to and move along a one-dimensional geometr…
Evolutionary dynamics under periodic switching of update rules on regular networks
Shengxian Wang, Weijia Yao, Ming Cao +1
Microscopic strategy update rules play an important role in the evolutionary dynamics of cooperation among interacting agents on complex networks. Many previous related works only…
Guiding vector fields for the distributed motion coordination of mobile robots
Weijia Yao, Hector Garcia de Marina, Zhiyong Sun +1
We propose coordinating guiding vector fields to achieve two tasks simultaneously with a team of robots: first, the guidance and navigation of multiple robots to possibly different…
Guiding Vector Fields for Following Occluded Paths
Weijia Yao, Bohuan Lin, Brian D. O. Anderson +1
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 o…
Limit Cycles Analysis and Control of Evolutionary Game Dynamics with Environmental Feedback
Lulu Gong, Weijia Yao, Jian Gao +1
Recently, an evolutionary game dynamics model taking into account the environmental feedback has been proposed to describe the co-evolution of strategic actions of a population of…
Topological Analysis of Vector-Field Guided Path Following on Manifolds
Weijia Yao, Bohuan Lin, Brian D. O. Anderson +1
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 algor…
On Wilson's theorem about domains of attraction and tubular neighborhoods
Bohuan Lin, Weijia Yao, Ming Cao
In this paper, we show that the domain of attraction of a compact asymptotically stable submanifold of a finite-dimensional smooth manifold of an autonomous system is homeomorphic…
Distributed coordinated path following using guiding vector fields
Weijia Yao, Hector Garcia de Marina, Zhiyong Sun +1
It is essential in many applications to impose a scalable coordinated motion control on a large group of mobile robots, which is efficient in tasks requiring repetitive execution,…
Leaderless collective motions in affine formation control
Hector Garcia de Marina, Juan Jimenez Castellanos, Weijia Yao
This paper proposes a novel distributed technique to induce collective motions in affine formation control. Instead of the traditional leader-follower strategy, we propose modifyin…
Singularity-free Guiding Vector Field for Robot Navigation
Weijia Yao, Hector Garcia de Marina, Bohuan Lin +1
Most of the existing path-following navigation algorithms cannot guarantee global convergence to desired paths or enable following self-intersected desired paths due to the existen…
Vector Field Guided Path Following Control: Singularity Elimination and Global Convergence
Weijia Yao, Hector Garcia de Marina, Ming Cao
Vector field guided path following (VF-PF) algorithms are fundamental in robot navigation tasks, but may not deliver the desirable performance when robots encounter singular points…
Path Following Control in 3D Using a Vector Field
Weijia Yao, Ming Cao
Using a designed vector field to control a mobile robot to follow a given desired path is intuitive and practical, and to build a rigorous theory to guide its implementation is ess…
Distributed Circumnavigation Control with Dynamic Spacings for a Heterogeneous Multi-robot System
Weijia Yao, Sha Luo, Huimin Lu +1
Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have d…