This work proposes a geometric controller to solve the trajectory tracking problem for a
differential drive mobile robot. The proposed control design exploits the properties of the …

In this letter, we propose a gradient-based nonlinear control approach for stabilizing a
nonholonomic Wheeled Mobile Robot (WMR) to a target position in environments with and …

This paper proposed a leaderless consensus-based formation control law with global
convergence domain for multiple nonholonomic vehicles. We firstly studied the consensus …

This article addresses the saturated stabilization control problem for nonholonomic vehicles
with a novel c-nonholonomic trajectory approach on, with applications to automatic parking …

This article studies the trajectory tracking of nonholonomic mobile robots by using geometric
control methods, with extension to consensus tracking and formation tracking. Different from …

Controlling marine vehicles in challenging environments is a complex task due to the
presence of nonlinear hydrodynamics and uncertain external disturbances. Despite …

This paper investigates the arbitrary point-to-point stabilization control problem for wheeled
mobile robots based on the second-order dynamics. The arbitrary point-to-point stabilization …

This paper considers the simultaneous position and orientation planning of nonholonomic
multi-robot systems. Different from common researches which only focus on final position …

This article investigates the roto-translation invariant (RTI) formation of multiple
underactuated planar rigid bodies, which are established under the framework of matrix Lie …

This paper investigates the stabilization of underactuated vehicles moving in a three-
dimensional vector space. The vehicle's model is established on the matrix Lie group SE (3) …