The inspiration for snake robots comes from biological snakes. Snakes display superior
mobility capabilities and can move over virtually any type of terrain, including narrow and …

This paper presents an extensive analysis of the integral line-of-sight (ILOS) guidance
method for path-following tasks of underactuated marine vehicles, operating on and below …

This paper addresses two interrelated problems concerning the planar three degree-of-
freedom motion of a vehicle, namely, the path planning problem and the guidance problem …

In this brief, a finite-time unknown observer-based interactive trajectory tracking control (FUO-
ITTC) scheme is created for an asymmetric underactuated surface vehicle (AUSV). In lieu of …

We address the problem of tracking control of multiple mobile robots advancing in formation
along straight-line paths. We use a leader-follower approach, and hence, we assume that …

Snake Robots is a novel treatment of theoretical and practical topics related to snake robots:
robotic mechanisms designed to move like biological snakes and able to operate in …

We present a direct and an indirect nonlinear adaptive path‐following controller for marine
craft based on a line‐of‐sight guidance principle used by ancient navigators. The control …

In this paper, we address the tracking problem for an underactuated ship using two controls,
namely surge force and yaw moment. A simple state-feedback control law is developed and …

This paper describes planar motion modeling for an unmanned surface vehicle (USV),
including a comparative evaluation of several experimentally identified models over a wide …

The uniform global finite-time stability is discussed for a cascaded time-varying system
consisting of two uniformly finite-time stable subsystems. It is shown that a forward …