C
Chin Pei Tang
Researcher at University of Texas at Dallas
Publications - 33
Citations - 772
Chin Pei Tang is an academic researcher from University of Texas at Dallas. The author has contributed to research in topics: Mobile robot & Nonholonomic system. The author has an hindex of 16, co-authored 33 publications receiving 695 citations. Previous affiliations of Chin Pei Tang include University at Buffalo & State University of New York System.
Papers
More filters
Journal ArticleDOI
Trajectory tracking with collision avoidance for nonholonomic vehicles with acceleration constraints and limited sensing
TL;DR: A bounded control law for nonholonomic systems of unicycle-type is reported on that satisfactorily drive a vehicle along a desired trajectory while guaranteeing a minimum safe distance from another vehicle or obstacle at all times.
Journal ArticleDOI
Experimental Evaluation of Dynamic Redundancy Resolution in a Nonholonomic Wheeled Mobile Manipulator
TL;DR: In this article, two variants of null-space controllers are implemented to improve disturbance rejection and active reconfiguration during performance of end-effector tasks by a primary end effector impedance mode controller.
Journal ArticleDOI
Differential-Flatness-Based Planning and Control of a Wheeled Mobile Manipulator—Theory and Experiment
TL;DR: In this article, a differential flatness-based integrated point-to-point trajectory planning and control method for a class of nonholonomic wheeled mobile manipulators (WMM) is presented.
Journal ArticleDOI
Formation optimization for a fleet of wheeled mobile robots - A geometric approach
TL;DR: This paper investigates the optimal relative layout for members of a team of Differentially-Driven Wheeled Mobile Robots (DD-WMRs) moving in formation for ultimate deployment in cooperative payload transport tasks.
Journal ArticleDOI
Screw-theoretic analysis framework for cooperative payload transport by mobile manipulator collectives
TL;DR: The rich theoretical background of analysis of constrained mechanical systems is leveraged to provide a systematic framework for formulation and evaluation of system-level performance on the basis of the individual-module characteristics in the context of cooperative payload transport by robot collectives.