From a kinematic point of view, the main characteristic of wheeled robots is the
nonholonomic rolling without slipping constraint of the wheels on the floor, which forces the …

Autonomous parking has been a widely developed branch of intelligent transportation
systems. In autonomous parking, maneuver planning is a crucial procedure that determines …

This paper describes a computationally inexpensive, yet high performance trajectory
generation algorithm for omnidirectional vehicles. It is shown that the associated non-linear …

This paper presents the time optimal trajectories for differential drive vehicles in the
unobstructed plane. The wheel angular velocities are bounded, but may be discontinuous …

In this paper, we consider the problem of planning optimal paths for a differential-drive robot
with limited sensing, that must maintain visibility of a fixed landmark as it navigates in its …

The shortest paths for a mobile robot are a fundamental property of the mechanism, and may
also be used as a family of primitives for motion planning in the presence of obstacles. This …

This paper focuses on minimum-time path tracking, a subproblem in motion planning of
robotic systems. We generate a time-optimal velocity profile for robotic manipulators taking …

The minimum-time trajectory planning problem for three-wheeled omnidirectional mobile
robots (TOMRs) is solved based on the combined dynamic model of a mobile robot and dc …

A common mobile robot design consists of three 'omniwheels' arranged at the vertices of an
equilateral triangle, with wheel axles aligned with the rays from the center of the triangle to …

This paper proposes new motion primitives that are time optimal and feasible for a vehicle
(wheeled-mobile robot). They are parameterized by a constant acceleration and a constant …