We introduce flat systems, which are equivalent to linear ones via a special type of feedback
called endogenous. Their physical properties are subsumed by a linearizing output and they …

Field theory is a more or less coherent approach in the social sciences whose essence is
the explanation of regularities in individual action by recourse to position vis-à-vis others …

Nature discovered feedback long ago. It created feedback mechanisms and exploited them
at all levels, that are central to homeostasis and life. As a technology, control dates back at …

Provides a summary of recent developments in control of nonholonomic systems. The
published literature has grown enormously during the last six years, and it is now possible to …

A new system equivalence relation, using the framework of differential geometry of jets and
prolongations of infinite order, is studied. In this setting, two systems are said to be …

This paper presents Continuous Curvature (CC) Steer, a steering method for car-like
vehicles, ie, an algorithm planning paths in the absence of obstacles. CC Steer is the first to …

Mobile robots with trailers and its control is one of the most challenging problems in service
robotics. Since, these kinds of robots can accomplish the given task in a faster and cheaper …

In this paper, we introduce an approach for the efficient solution of motion-planning
problems for time-invariant dynamical control systems with symmetries, such as mobile …

This paper considers the problem of real‐time trajectory generation and tracking for
nonlinear control systems. We employ a two‐degree‐of‐freedom approach that separates …

The operation of an autonomous vehicle in an unknown, dynamic environment is a very
complex problem, especially when the vehicle is required to use its full maneuvering …