Path integration, a component of spatial navigation, is the process used to determine position information on the basis of information about distance and direction travelled derived from self-motion cues. Following on from studies in the animal literature that seem to support the role of the hippocampal formation in path integration, this facility was investigated in humans with focal brain les...

A control strategy for coordinated path following of multiple mobile robots is presented in this paper. A virtual vehicle concept is combined with a path following approach to achieve formation tasks. Our formation controller is proposed for the kinematic model of unicycle-type mobile robots. It is designed in such a way that the path derivative is employed as an additional control input to syn...

We propose a new proximal, path-following framework for a class of constrained convex problems. We consider settings where the nonlinear—and possibly non-smooth—objective part is endowed with a proximity operator, and the constraint set is equipped with a self-concordant barrier. Our approach relies on the following two main ideas. First, we re-parameterize the optimality condition as an auxili...

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This paper addresses the problem of path following for wheeled mobile robots (WMRs) by utilizing a novel guidance-based approach. The guidance laws are developed at an ideal, dynamics-independent level, entailing generically valid laws not influenced by particular peculiarities relating to any given dynamics case. Hence, the resulting guidancebased framework is equally applicable to any planar ...

Recently, graph matching algorithms utilizing the path following strategy have exhibited state-of-the-art performances. However, the paths computed in these algorithms often contain singular points, which usually hurt the matching performance. To deal with this issue, in this paper we propose a novel path following strategy, named branching path following (BPF), which consequently improves grap...

Robust path following is an issue of vital practical importance to the ship industry. In this paper, a nonlinear robust adaptive control strategy is developed to force an underactuated surface ship to follow a predefined path at a desired speed, despite the presence of environmental disturbances induced by wave, wind and ocean-current. The proposed controller is scalable and is designed using L...

An adaptive block elimination method based on recursive projection techniques is proposed for solving large linear systems which arise when applying Newton methods to parameter dependent nonlinear equations. The method is suitable for non-linear systems that have a Jacobian with a symmetric and almost positive deenite main block. The implicitly deened large symmetric and positive deenite subsys...

8 An algorithm for path planning for highly redundant manipulators is presented in this paper. Assuming an approximated path is given by B-spline curves, path following is defined by requiring manipulator links to remain approximately tangent to these curves. The algorithm decouples manipulator links and establishes each link’s position relative to the curve using a numerical approach. As a res...