We describe a behavior-based control system that enables a non-holonomic robot to push an object from an arbitrary starting position to a goal location through an obstacle field. The approach avoids the need for maintaining an internal model of the target and obstacles and the potentially high computational overhead associated with traditional path planning approaches for non-holonomic robots. ...

Various sequences that possess explicit analytic expressions can be analysed asymptotically through integral representations due to Lindelöf, which belong to an attractive but largely forgotten chapter of complex analysis. One of the outcomes of such analyses concerns the non-existence of linear recurrences with polynomial coefficients annihilating these sequences, and, accordingly, the non-exi...

In the present article we show how to produce new examples of integrable dynamical systems of differential geometry origin. This is based on a construction of a canonical Hamiltonian structure for the geodesic flows of Carnot–Carathéodory metrics ([7, 17]) via the Pontryagin maximum principle. This Hamiltonian structure is achieved by introducing Lagrange multipliers bundles being the phase spa...

In this paper we present a new methodology to achieve visionbased control using a mobile manipulator to reach a required threedimensional target position and orientation. Examples of mobile manipulators include standard forklifts and backhoes, which have a fixed manipulator mounted on a mobile platform. The overall objective of this methodology is to apply the nonholonomic degrees of freedom re...

The cybercars are electric road wheeled non-holonomic vehicles with fully automated driving capabilities. They contribute to sustainable mobility and are employed as passenger vehicles. Non-holonomic mechanics describes the motion of the cybercar constrained by non-integrable constraints, i.e. constraints on the system velocities that do not arise from constraints on the configuration alone. Fi...

We discuss the dynamics of a piecewise holonomic mechanical system: a discrete sister to the classical non-holonomically constrained Chaplygin sleigh. A slotted rigid body moves in the plane subject to a sequence of pegs intermittently placed and sliding freely along the slot; motions are smooth and holonomic except at instants of peg insertion. We derive a return map and analyze stability of c...