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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…