The subject of this chapter is the control problem for nonholonomic wheeled mobile robots
moving on the plane, and in particular the use of] eedback techniques for achieving a given …

The subject of this chapter is the motion control problem of wheeled mobile robots (WMRs).
With reference to the unicycle kinematics, we review and compare several control strategies …

Unmanned aerial vehicles (UAVs) are mainly used by military and government
organizations, but with low-cost sensors, electronics, and airframes there is significant …

Robust stability and control for systems that combine continuous-time and discrete-time
dynamics. This article is a tutorial on modeling the dynamics of hybrid systems, on the …

Recent advances in miniaturizing of computing, communication, sensing, and actuation
have made it feasible to envision large numbers of autonomous vehicles (air, ground, and …

A dynamical extension that makes possible the integration of a kinematic controller and a
torque controller for nonholonomic mobile robots is presented. A combined kinematic/torque …

This paper presents a behavior-based approach to formation maneuvers for groups of
mobile robots. Complex formation maneuvers are decomposed into a sequence of …

This paper proposes a new robust trajectory tracking error-based control approach for
unmanned ground vehicles. A trajectory tracking error-based model is used to design a …

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 …

The subject of the paper is the motion control problem of wheeled mobile robots (WMRs) in
environments without obstacles. With reference to the popular unicycle kinematics, it is …