Underactuated robotics is an emerging research direction in the field of robotics. The control
input of the underactuated robot is less than the degree of freedom of the system. It has the …

We present our current progress on the design and analysis of path planning algorithms
based on Rapidlyexploring Random Trees (RRTs). The basis for our methods is the …

Self-driving vehicles are a maturing technology with the potential to reshape mobility by
enhancing the safety, accessibility, efficiency, and convenience of automotive transportation …

Autonomous unmanned air vehicles (UAVs) are critical to current and future military, civil,
and commercial operations. Despite their importance, no previous textbook has accessibly …

Planning algorithms are impacting technical disciplines and industries around the world,
including robotics, computer-aided design, manufacturing, computer graphics, aerospace …

A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of
the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of …

l\lany systems encountered in practice involve a coupling between contin uous dynamics
and discrete events. Systems in which these two kinds of dynamics coexist and interact are …

This paper presents the first randomized approach to kinodynamic planning (also known as
trajectory planning or trajectory design). The task is to determine control inputs to drive a …

Being a motion on a discontinuity set of a dynamic system, sliding mode is used to keep
accurately a given constraint and features theoretically-infinite-frequency switching …

We introduce flat systems, which are equivalent to linear ones via a special type of feedback
called endogenous. Their physical properties are subsumed by a linearizing output and they …