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eess.SY2025
Nonholonomic Robot Parking by Feedback -- Part I: Modular Strict CLF Designs
Velimir Todorovski, Kwang Hak Kim, Alessandro Astolfi +1
It has been known in the robotics literature since about 1995 that, in polar coordinates, the nonholonomic unicycle is asymptotically stabilizable by smooth feedback, even globally…
eess.SY2025
Integrator Forwading Design for Unicycles with Constant and Actuated Velocity in Polar Coordinates
Miroslav Krstic, Velimir Todorovski, Kwang Hak Kim +1
In a companion paper, we present a modular framework for unicycle stabilization in polar coordinates that provides smooth steering laws through backstepping. Surprisingly, the same…