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cs.RO2026
Observability Analysis and Online Calibration of Visual-Inertial-Wheel Odometry for 4WIS4WID Mobile Robots
Branimir Ćaran, Vladimir Milić, Bojan Šekoranja +1
In this paper, we present a visual-inertial-wheel odometry (VIWO) framework with online calibration for four-wheel independently steered and driven (4WIS4WID) mobile robots. We der…
cs.RO2026
Lyapunov-Based PI-Like Control for Robust Trajectory Tracking of a Four-Wheel Independently Driven and Steered Robot: Design and Experimental Validation
Branimir Ćaran, Vladimir Milić, Marko Švaco +1
In this paper, a Lyapunov-based synthesis of a PI-like controller is proposed for robust trajectory tracking of an independently driven and steered four-wheel mobile robot. For the…