Mobile manipulators that combine base mobility with the dexterity of an articulated
manipulator have gained popularity in numerous applications ranging from manufacturing …

This paper introduces a systematic constraint-based approach to specify complex tasks of
general sensor-based robot systems consisting of rigid links and joints. The approach …

The present thesis explores the use of non-linear state errors to devise extended Kalman
filters (EKFs). First we depart from the theory of invariant observers on Lie groups and …

The problem of stabilizing reference trajectories-also referred to as the trajectory tracking
problem-for nonholonomic mobile robots is revisited. Theoretical difficulties and …

This article investigates a fully distributed cooperation scheme for networked mobile
manipulators. To achieve cooperative task allocation in a distributed way, an adaptation …

Mobile manipulators derive significant novel capabilities for enhanced interactions with the
world by merging mobility with manipulation. However, a careful resolution of the …

This paper discusses the application of a constraint-based model predictive control (MPC) to
mobile manipulation tracking problems. The problem has been formulated so as to …

Classic task programming methods based on the specification of desired Cartesian frames
can easily generate overconstrained task specifications, reducing the motion capabilities of …

The work presented in this paper aims at providing a unified modelling framework for the
reactive control of wheeled mobile manipulators (WMM). Where most work in the literature …

This study proposes a hybrid visual servoing technique that is optimised to tackle the
shortcomings of classical 2D, 3D and hybrid visual servoing approaches. These …