This paper presents an integrated task planning and control approach for manipulating a nonholonomic cart by mobile manipulators. The task considered in this study is to manipulate a nonholonomic cart to perform certain tasks such as pushing the cart along a straight line, making a turn at a corner, or tracking a sine wave. The cart manipulation task fully integrates the motion and force planni...

This paper describes a real experiment in nonholonomic motion planning and control. It was performed on the mobile robot Hilare-2-bis pulling a trailer.

This paper develops a motion planning algorithm which exploits symmetries in distributed systems to reduce motion planning computation complexity. Symmetries allow for algebraic manipulations that are computationally costly, which normally must be carried out for each component in a distributed system, to be related among various symmetric components in a distributed system by a simple algebrai...

this paper develops an automatic parking algorithm based on a fuzzy logic controller with the vehicle pose for the input and the steering angle for the output. in this way some feasible reference trajectory path have been introduced according to geometric and kinematic constraints and nonholonomic constraints to simulate motion path of car. also a novel method is used for parking space detectio...

This paper is concerned with planning the motion of mobile robots in formation, which means certain geometrical constraints are imposed on the relative positions and orientations of the robots throughout their travel. Specifically, a method of planning motion for formations of mobile robots with nonholonomic constraints is presented. The kinematic equations developed allow a certain class of fo...

We address the motion planning problem for multiple cooperating manipulators on nonholonomic carts. The mobile manipulators possess the ability to manipulate and transport objects while holding them in a stable grasp. We present a general approach that allows the generation of optimal trajectories and actuator inputs for any given maneuver in the presence of obstacles. We assume a meaningful in...