Mobile robots range from the Mars Pathfinder mission's teleoperated Sojourner to the cleaning robots in the Paris Metro. This text offers students and other interested readers an introduction to the fundamentals of mobile robotics, spanning the mechanical, motor, sensory, perceptual, and cognitive layers the field comprises. The text focuses on mobility itself, offering an overview of the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks, including locomotion, sensing, localization, and motion planning. It synthesizes material from such fields as kinematics, control theory, signal analysis, computer vision, information theory, artificial intelligence, and probability theory. The book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter treats a different aspect of mobility, as the book moves from low-level to high-level details. It covers all aspects of mobile robotics, including software and hardware design considerations, related technologies, and algorithmic techniques.] This second edition has been revised and updated throughout, with 130 pages of new material on such topics as locomotion, perception, localization, and planning and navigation. Problem sets have been added at the end of each chapter. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners.

http://www.gbv.de/dms/hebis-darmstadt/toc/120387220.pdf

Introduction to Autonomous Mobile Robots

5. M. Green, J. Schwarz, and E. Witten, Superstring theory, Cambridge Univ. Press, 1987. 6. J. Isenberg, P. Yasskin, and P. Green, Non-self-dual gauge fields, Phys. Lett. 78B (1978), 462-464. 7. B. Kostant, Graded manifolds, graded Lie theory, and prequantization, Differential Geometric Methods in Mathematicas Physics, Lecture Notes in Math., vol. 570, SpringerVerlag, Berlin and New York, 1977. 8. C. LeBrun, Thickenings and gauge fields, Class. Quantum Grav. 3 (1986), 1039-1059. 9. , Thickenings and conformai gravity, preprint, 1989. 10. C. LeBrun and M. Rothstein, Moduli of super Riemann surfaces, Commun. Math. Phys. 117(1988), 159-176. 11. Y. Manin, Critical dimensions of string theories and the dualizing sheaf on the moduli space of (super) curves, Funct. Anal. Appl. 20 (1987), 244-245. 12. R. Penrose and W. Rindler, Spinors and space-time, V.2, spinor and twistor methods in space-time geometry, Cambridge Univ. Press, 1986. 13. R. Ward, On self-dual gauge fields, Phys. Lett. 61A (1977), 81-82. 14. E. Witten, An interpretation of classical Yang-Mills theory, Phys. Lett. 77NB (1978), 394-398. 15. , Twistor-like transform in ten dimensions, Nucl. Phys. B266 (1986), 245-264. 16. , Physics and geometry, Proc. Internat. Congr. Math., Berkeley, 1986, pp. 267302, Amer. Math. Soc, Providence, R.I., 1987.

Infinite-Dimensional Dynamical Systems in Mechanics and Physics (Roger Temam)

Diffusion and ecological problems : mathematical models

Constructive safety using control barrier functions

A review of swarm robotics tasks

The paper considers the problem of motion planning and posture control of multiple n-link doubly
nonholonomic mobile manipulators in an obstacle-cluttered and bounded workspace. The workspace
is constrained with the existence of an arbitrary number of fixed obstacles (disks, rods and curves),
artificial obstacles and moving obstacles. The coordination of multiple n-link doubly nonholonomic
mobile manipulators subjected to such constraints becomes therefore a challenging navigational
and steering problem that few papers have considered in the past. Our approach to developing
the controllers, which are novel decentralized nonlinear acceleration controllers, is based on a
Lyapunov control scheme that is not only intuitively understandable but also allows simple but
rigorous development of the controllers. Via the scheme, we showed that the avoidance of all types
of obstacles was possible, that the manipulators could reach a neighborhood of their goal and that
their final orientation approximated the desired orientation. Computer simulations illustrate these
results.
KEYWORDS: Lyapunov-based control scheme; Doubly nonholonomic manipulators; Ghost parking
bays; Minimum distance technique; Stability; Kinodynamic constraints.

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Motion planning and posture control of multiple n-link doubly nonholonomic manipulators

Flocking, arguably one of the most fascinating concepts in nature, has in recent times established a growing stature within the field of robotics. In this paper, we control the collective motion of a flock of nonholonomic car-like vehicles in a constrained environment. A continuous centralized motion planner is proposed for split/rejoin maneuvers of the flock via the Lyapunov-based control scheme to anchor avoidance of obstacles intersecting the paths of flockmates. The control scheme inherently utilizes the artificial potential fields, within a new leader-follower framework, to accomplish the desired formations and reformations of the flock. The effectiveness of the proposed control laws are demonstrated through computer simulations.

Flocking of Multi-agents in Constrained Environments

In this article, a solution to target convergence and obstacle avoidance problem of an underactuated nonstandard n-trailer robot is proposed With a new geometric approach, we propose autonomous velocity and steering angle controllers for the car-like tractor robot such that the tractor-trailer system moves from an initial position to a designated target The proposed method simultaneously takes into account the dynamics constraints of the system and also ensures that the robot avoids any fixed obstacles on its way to the target We also generalize the results to control the motion of the nonstandard n-trailer system with an arbitrary number of passive trailers, a mathematically challenging nonlinear underactuated system, given that the angular velocity of a trailer is dependent on the angular velocity of the preceding trailer The effectiveness of the new geometric approach and the stabilizing control inputs is verified using computer simulations

Jito Vanualailai

Papers

Motion planning and posture control of multiple n-link doubly nonholonomic manipulators

Flocking of Multi-agents in Constrained Environments

A geometric approach to target convergence and obstacle avoidance of a nonstandard tractor‐trailer robot

Stability of a system of Volterra integro-differential equations

Lyapunov-based nonlinear controllers for obstacle avoidance with a planar n-link doubly nonholonomic manipulator