Developing a safe and efficient collision-avoidance policy for multiple robots is challenging
in the decentralized scenarios where each robot generates its paths with limited observation …

An exploration task can be performed by a team of mobile robots more efficiently than
human counterparts. They can access and give live updates for hard-to-reach areas such as …

Robust path following is an issue of vital practical importance to the ship industry. In this
paper, a nonlinear robust adaptive control strategy is developed to force an underactuated …

A navigation functions' based methodology, established in our previous work for centralized
multiple robot navigation, is extended to address the problem of decentralized navigation. In …

A robot path planning technique is proposed in the paper. It was developed for robots with
differential drive, but with minor modifications it could be used for all types of nonholonomic …

This chapter provides a short review on the popular yet still very important area of controlling
underactuated mechanical systems. New solutions to the simultaneous stabilization and …

This paper describes how a network of interacting timed automata can be used to model,
analyze, and verify motion planning problems in a scenario with multiple robotic vehicles …

This paper develops state-and output-feedback controllers that force an underactuated
surface ship to follow a predefined path at a constant forward speed controlled by the main …

This paper presents a novel coordinated formation algorithm for multiple surface vessels that
used the guidance-control structure. The proposed coordination algorithm is the …

Motion planning of multi-robot systems has been extensively investigated. Many proposed
approaches assume that all robots are reliable. However, robots with priori known levels of …