5 papers
Decoupling Physical Speed from Path Parameterization in Singularity-Free Guiding Vector Fields
Zhouru Xiao, Sha Luo, Yang Lu +5
The existing singularity-free guiding vector field (SF-GVF) with an additional virtual coordinate can eliminate singular points (i.e., points where the vector field vanishes) inher…
Finite-Time Curvature-Constrained Vector Field for Saturation-Free Motion Planning of Nonholonomic Robots
Zhouru Xiao, Sha Luo, Yang Lu +5
Accurately steering a robot to a target configuration is fundamental in engineering, yet remains challenging for nonholonomic mobile robots. Vector fields (VFs) provide a natural f…
Simultaneous Arrival Control for Distributed Multi-Robot Systems with Curvature and Constant-Speed Constraints
Zhouru Xiao, Yang Lu, Weijia Yao +2
The simultaneous arrival of multiple mobile robots at a target point is crucial for cooperation tasks such as cooperative encirclement, disaster relief, and environmental monitorin…
Versatile Distributed Maneuvering with Generalized Formations using Guiding Vector Fields
Yang Lu, Sha Luo, Pengming Zhu +4
This paper presents a unified approach to realize versatile distributed maneuvering with generalized formations. Specifically, we decompose the robots' maneuvers into two independe…
Vector Field-Guided Learning Predictive Control for Motion Planning of Mobile Robots with Uncertain Dynamics
Yang Lu, Weijia Yao, Yongqian Xiao +4
In obstacle-dense scenarios, providing safe guidance for mobile robots is critical to improve the safe maneuvering capability. However, the guidance provided by standard guiding ve…