3 papers
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…
eess.SY2025
Modular Design of Strict Control Lyapunov Functions for Global Stabilization of the Unicycle in Polar Coordinates
Velimir Todorovski, Kwang Hak Kim, Miroslav Krstic
Since the mid-1990s, it has been known that, unlike in Cartesian form where Brockett's condition rules out static feedback stabilization, the unicycle is globally asymptotically st…