Minimum-Time Trajectory Planning for a Differential Drive Mobile Robot Considering Non-slipping Constraints
Sign Up to like & getrecommendations! Published in 2020 at "Journal of Control, Automation and Electrical Systems"
DOI: 10.1007/s40313-020-00657-x
Abstract: We propose a real-time minimum-time trajectory planning strategy with obstacle avoidance for a differential-drive mobile robot in the context of robot soccer. The method considers constraints important to maximize the system’s performance, such as the… read more here.
Keywords: trajectory planning; time; robot; time trajectory ... See more keywords
SCOUT: A new algorithm for the inference of pseudo-time trajectory using single-cell data
Sign Up to like & getrecommendations! Published in 2019 at "Computational biology and chemistry"
DOI: 10.1016/j.compbiolchem.2019.03.013
Abstract: Single cell technology is a powerful tool to reveal intercellular heterogeneity and discover cellular developmental processes. When analyzing the complexity of cellular dynamics and variability, it is important to construct a pseudo-time trajectory using single-cell… read more here.
Keywords: single cell; cell; pseudo time; time trajectory ... See more keywords
Extended state observer-based fixed-time trajectory tracking control of autonomous surface vessels with uncertainties and output constraints.
Sign Up to like & getrecommendations! Published in 2021 at "ISA transactions"
DOI: 10.1016/j.isatra.2021.09.005
Abstract: A fixed-time trajectory tracking control of autonomous surface vessels (ASVs) subject to unmeasured speed is studied in this work. By using the homogeneity-based Lyapunov method, the unknown system states, including the unmeasured speed and lumped… read more here.
Keywords: output constraints; control; time; fixed time ... See more keywords
Distributed finite-time trajectory tracking control for multiple nonholonomic mobile robots with uncertainties and external disturbances
Sign Up to like & getrecommendations! Published in 2017 at "International Journal of Systems Science"
DOI: 10.1080/00207721.2017.1381891
Abstract: ABSTRACT This paper investigates the distributed finite-time trajectory tracking control for a group of nonholonomic mobile robots with time-varying unknown parameters and external disturbances. At first, the tracking error system is derived for each mobile… read more here.
Keywords: finite time; distributed finite; time; time trajectory ... See more keywords
3D LiDAR/IMU Calibration Based on Continuous-Time Trajectory Estimation in Structured Environments
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Access"
DOI: 10.1109/access.2021.3114618
Abstract: Sensor calibration is a fundamental step for improving the performance in sensor fusion, the aim of which is to spatially and temporally register sensors with respect to each other. This paper presents a high-accuracy autocalibration… read more here.
Keywords: calibration; time trajectory; lidar imu; continuous time ... See more keywords
Continuous-Time Trajectory Estimation for Differentially Flat Systems
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3224364
Abstract: Continuous-time estimation using splines on Lie groups has been gaining traction in the literature due to the ability to incorporate high-frequency sensor data without introducing new optimization parameters. However, evaluating time derivatives and Jacobians of… read more here.
Keywords: time trajectory; time; continuous time; estimation differentially ... See more keywords
Online and Real-Time Trajectory Generation Method for Unforeseen Events Using a Modified Spline Approach
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3224658
Abstract: This letter focuses on the problem of online and instantaneous generation of smooth trajectories and their analytical time derivatives, where future reference signals provided by a trajectory planner or a user are a-priori unknown. For… read more here.
Keywords: time trajectory; time; generation; real time ... See more keywords
Minimum-Time Trajectory Generation of eVTOL in Low-Speed Phase: Application in Control Law Design
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Aerospace and Electronic Systems"
DOI: 10.1109/taes.2022.3198033
Abstract: With the emergence of electric propulsive technologies in the past decades, electric vertical takeoff and landing (eVTOL) aircraft gain increasing interest, which paves the path for advanced air mobility. However, there is insufficient prior knowledge… read more here.
Keywords: time trajectory; control; control law; low speed ... See more keywords
Finite-time trajectory control for a quadrotor aircraft using disturbance observer
Sign Up to like & getrecommendations! Published in 2020 at "International Journal of Advanced Robotic Systems"
DOI: 10.1177/1729881420903847
Abstract: In this article, we investigate the problem of finite-time trajectory tracking control for a quadrotor aircraft with unknown external disturbances. To improve convergence rate and disturbance rejection performance, a new composite controller is proposed by… read more here.
Keywords: finite time; control quadrotor; time; time trajectory ... See more keywords