ISS properties of nonholonomic vehicles

ISS properties of nonholonomic vehicles

The paper presents the first result on nonholonomic systems enjoying Input to State Stability (ISS) properties. Although it is known that smooth stabilizability implies ISS, the converse is not generally true. This leaves the possibility of non smoothly stabilizable systems being ISS with respect to a particular input, after an appropriate feedback transformation. This is shown to be true for t...

ISS properties of nonholonomic mobile robots

The paper presents the first result on ISS properties of dynamic unicycle models describing nonholonomic mobile robots. It is known that ISS is related to smooth stabilizability, however this relation cannot exclude the possibility of non smoothly stabilizable systems to possess ISS properties. In fact, it is shown that in a certain topology that seems to suit the nonholonomic nature of the mob...

Decentralized Fuzzy Control of Multiple Nonholonomic Vehicles

This work considers the problem of controlling multiple nonholonomic vehicles so that they converge to a scent source without colliding with each other. Since the control is to be implemented on simple &bit microcontrollers, fuzzy control rules are used to simplify a linear quadratic regulator control design. The inputs to the fuzzy controllers for each vehicle q e the (noisy) direction to the ...

An Active SLAM Approach for Autonomous Navigation of Nonholonomic Vehicles

In this paper we propose a new approach for active SLAM (Simultaneous Localization And Mapping) of nonholonomic vehicles. Both the environment and the vehicle model are unknown in advance, thus the path planner uses reinforcement learning to acquire the vehicle model, which is estimated by a reduced set of transitions. At the same time, the vehicle explores the environment creating a consistent...

Motion coordination and control in systems of nonholonomic autonomous vehicles