4 papers
Vector-field-guided constraint-following control for path following of uncertain mechanical systems
Hui Yin, Xiang Li, Yifan Liu +1
Achieving dynamics-level control is a critical yet challenging problem for accurate, high-speed geometric path-following of uncertain robotic systems. This paper proposes a vector-…
SwordRiding: A Unified Navigation Framework for Quadrotors in Unknown Complex Environments via Online Guiding Vector Fields
Xuchen Liu, Ruocheng Li, Bin Xin +5
Although quadrotor navigation has achieved high performance in trajectory planning and control, real-time adaptability in unknown complex environments remains a core challenge. Thi…
Inverse Kinematics on Guiding Vector Fields for Robot Path Following
Yu Zhou, Jesús Bautista, Weijia Yao +1
Inverse kinematics is a fundamental technique for motion and positioning control in robotics, typically applied to end-effectors. In this paper, we extend the concept of inverse ki…
Fully distributed and resilient source seeking for robot swarms
Jesus Bautista, Antonio Acuaviva, Jose Hinojosa +3
Existing source-seeking algorithms for robot swarms typically require either direct gradient measurements or rigid geometric formations, limiting their flexibility and resilience t…