We develop a method for generating smooth trajectories for a set of mobile robots. Given two end configurations, by tuning one parameter, the user can choose an interpolating tra...
— This paper describes decentralized control laws for the coordination of multiple vehicles performing spatially distributed tasks. The control laws are based on a gradient desce...
— We suggest a new navigation approach to mobile robots, within a nonlinear model predictive control framework where a navigation function is used as a control Lyapunov function....
We obtain analytically, the energy optimal speed profile of a generic multi-speed device with a discrete set of speeds, to execute a given task within a given time. Current implem...
— The ballbot is a dynamically stable mobile robot that moves on a single spherical wheel and is capable of omnidirectional movement. The ballbot is an underactuated system with ...
Umashankar Nagarajan, George Kantor, Ralph L. Holl...