collaborators

1 paper

cs.RO2026

A Relaxed Quadratic-Program-based Framework for Trajectory Tracking of Unicycle Robots with Singularity Avoidance

Hamza Tariq, Usman Ali, Adeel Akhtar

Dynamic feedback linearization (DFL) is a classical technique for trajectory tracking of unicycle-type mobile robots, but the resulting DFL-based controller becomes singular when t…