Introduction to Mobile Robot Control provides a complete and concise study of modeling,
control, and navigation methods for wheeled non-holonomic and omnidirectional mobile …

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

The control approaches based on the task function formalism, and particularly those
structured as a prioritized hierarchy of tasks, enable complex behaviors with elegant …

This paper proposes a method of dynamic modeling and a modified sliding mode control
algorithm applied on multi-link underwater manipulators. Firstly, combining Lagrange …

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 …

Flexible and versatile mobile robotic coworkers are becoming an indispensable commodity
for helping humans with repetitive or physically demanding work. A key challenge with these …

Introduces a revolutionary, quadratic-programming based approach to solving long-standing
problems in motion planning and control of redundant manipulators This book describes a …

Finding feasible solutions to motion planning and control problem of robotic systems in
different environments with various applications is an active area of research. This article …

Multi-objective control systems for complex robots usually have to handle multiple prioritized
tasks. Most existing hierarchical control techniques handle either strict task priorities by …

Wheeled mobile robots (WMRs) are being used in many real-world applications. The main
challenge in the deployment of WMRs is their limited battery power. In order to complete a …