30 citations · 30 across the 8 of their papers we have counts for
9 papers
Singularity-Free Guiding Vector Fields on SO(3) with Designer-Specified Progression Behavior
Jesus Bautista, Hector Garcia de Marina
This paper develops a singularity-free guiding vector field (SF-GVF) for path following on the special orthogonal group SO(3). First, we lift the Euclidean SF-GVF construction to S…
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…
The distance-based formation controller design for multi-agent systems in port-Hamiltonian form
Jingyi Zhao, Yongxin Wu, Héctor García de Marina +2
Based on the practical scenario where collisions in formation control may lead to agent damage, this paper investigates the integrated problem of distance-based formation control a…
Leaderless Collective Motion in Affine Formation Control over the Complex Plane
Jesus Bautista, Enric Morella, Lili Wang +1
We propose a method for the collective maneuvering of affine formations in the plane by modifying the original weights of the Laplacian matrix used to achieve static formations of…
Directional Mollification for Knot-Preserving Smoothing of Polygonal Chains with Explicit Curvature Bounds
Alfredo González-Calvin, Juan F. Jiménez, Héctor García de Marina
We introduce the \textit{directional mollification} operator, which acts on polygonal chains to produce curve approximants that are arbitrarily close to the original c…
Fully distributed and resilient source seeking for robot swarms
Jesus Bautista, Antonio Acuaviva, Jose Hinojosa +3
Existing source-seeking algorithms for robot swarms typically require either direct gradient measurements or rigid geometric formations, limiting their flexibility and resilience t…