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cs.RO2026
Dual Path Following for an Aerial Manipulator Under State and Input Constraints via Transverse Feedback Linearization
Hamza Tariq, Adeel Akhtar
This paper studies dual path following for a quadrotor carrying a three-degree-of-freedom arm. The center of mass of the combined system must follow a vehicle path and the end effe…
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…
cs.RO2025
A Safe Hybrid Control Framework for Car-like Robot with Guaranteed Global Path-Invariance using a Control Barrier Function
Nan Wang, Adeel Akhtar, Ricardo G. Sanfelice
This work proposes a hybrid framework for car-like robots with obstacle avoidance, global convergence, and safety, where safety is interpreted as path invariance, namely, once the…