Abstract— For a right-invariant and controllable driftless system on SU(n), we consider a time-periodic reference trajectory along which the linearized control system generates s...
Sampling-based nonholonomic and kinodynamic planning iteratively constructs solutions with sampled controls. A constructed trajectory is returned as an acceptable solution if its &...
— We study the problem of generating continuous steering control for robots to completely cover a bounded region over a finite time. First, we pack the area by disks of minimum ...
In this paper, we address the problem of generating trajectories of some image features in order to control efficiently a robotic system using an image-based control strategy. Firs...
An algorithm is presented for wheeled mobile robot trajectory generation that achieves a high degree of generality and efficiency. The generality derives from numerical lineariza...