In this paper, a model-predictive trajectory-tracking control applied to a mobile robot is
presented. Linearized tracking-error dynamics is used to predict future system behavior and …

A well-known path-planning technique for mobile robots or planar aerial vehicles is to use
Dubins paths, which are minimum-distance paths between two configurations subject to the …

Autonomous vehicle is an efficient component in vehicle active system to reduce traffic
accidents. The path planning of lane change for autonomous vehicle is an important …

In this paper a new cooperative collision-avoidance method for multiple, nonholonomic
robots based on Bernstein–Bézier curves is presented. The main contribution focuses on an …

In this paper a control design of a nonholonomic mobile robot with a differential drive is
presented. On the basis of robot kinematics equations a robot control is designed where the …

What would it be like if we could give our robot high level commands and it would
automatically execute them in a verifiably correct fashion in dynamically changing …

Future transportation systems will require a number of drastic measures, mostly to lower
traffic jams and air pollution in urban areas. Automatically guided vehicles capable of driving …

Abstract The Air Force Research Laboratory at Tyndall Air Force Base, Florida, has
contracted the University of Florida to develop autonomous navigation for various ground …

In this paper, a nonlinear model predictive tracking (NMPT) controller for mobile robots is
presented. The basic idea is to use a motion model for the vehicle and compute in real-time …

We consider the problem of optimal control design for navigation on off-road terrain. We use
a traversability measure to characterize the difficulty of navigation on off-road terrain. The …