4 papers
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…
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…