This paper addresses the problem of transporting objects with multiple mobile robots using
the concept of object closure. In contrast to other manipulation techniques that are typically …

This paper investigates the inherent oscillation problem of potential field methods (PFMs) in
the presence of obstacles and in narrow passages. These problems can cause slow …

To navigate and control a single mobile robot or a robotic swarm with higher efficiency, a
novel non-potential orthogonal vector field method is proposed in this paper, which is …

We develop decentralized cooperative controllers, which are based on local navigation
functions and yield (almost) global asymptotic stability of a group of mobile agents to a …

We address the problem of planning the motion of a team of mobile robots subject to
constraints imposed by sensors and the communication network. Our goal is to develop a …

The low power requirements of many small radio modems suggest that robust operation is
best attained when the transmitter/receiver pair is:(1) separated by less than some maximum …

We describe the development and assessment of a computer controlled wheelchair
equipped with a suite of sensors and a novel interface, called the SMARTCHAIR. The main …

This paper presents a decentralized controller to guide a group of aerial robots to converge
to and to move along a simple closed curve specified in a three-dimensional environment …

This paper is to investigate inherent oscillations problems of potential field methods (PFMs)
for nonholonomic robots in dynamic environments. In prior work, we proposed a modification …

This paper presents a framework that integrates vector field based motion planning
techniques with an optimal path planner. The main motivation for this integration is the …