3 papers
cs.RO2026
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…
cs.RO2026
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…
cs.RO2026
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…