1 citations · 1 across the 9 of their papers we have counts for
9 papers
Structure of Motion under Constraints and non-Holonomic Path-Following on
Bohuan Lin, Weijia Yao
In this paper we study a path-following problem on with a non-holonomic constraint. The geometric structure associated to the velocity constraint is explored, and general pri…
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…
A Bubble-breaking Phenomenon in the Variation of a Swarm Communication Network
Bohuan Lin, Jian Gao
We discuss a specific circumstance in which the topology of the communication network of a robotic swarm has to change during the movement. The variation is caused by a topological…
Maslov Bundles and Maslov Data
Konstantinos Efstathiou, Bohuan Lin, Holger Waalkens
We define Maslov bundles over a symplectic manifold . These are the determinant bundle of the unitary frame bundle defined by an almost complex structure compati…
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…
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…
Loops of Infinite Order and Toric Foliations
Konstantinos Efstathiou, Bohuan Lin, Holger Waalkens
In 2005 Dullin et al. proved that the non-zero vector of Maslov indices is an eigenvector with eigenvalue 1 of the monodromy matrices of an integrable Hamiltonian system. We take a…
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…