Planning and control for a wheeled mobile robot are challenging problems when poorly traversable terrains, including dynamic obstacles, are considered. To accomplish a mission, the control system should firstly guarantee the vehicle integrity, for example with respect to possible roll-over/tip-over phenomena. A fundamental contribution to achieve this goal, however, comes from the planner as we...

The use of control systems, especially vehicle dynamic control systems, is increasing at a remarkable rate. A key parameter that affects the performance of a vehicle dynamic control system is the interaction forces between the tyre and the road since these forces determine the acceleration, braking and steering properties of a car. Consequently, the accurate estimate of these forces is highly d...

A control scheme for the coordinated control of a Sub-sea vehicle/manipulator system is presented. The unit quaternion representation is used in a singularity free representation of the attitude. The control scheme is formulated in a 12 d.o.f. task space and only position measurements are required. The performance is evaluated by simulation with a realistic model of a commercial underwater vehi...

Cooperative vehicle safety systems rely on vehicular networking for vehicle tracking and collision warning. The most pressing challenge in such systems is to maintain real-time tracking accuracy while avoiding network failure and congestion. In vehicular networking, vehicle density is changing rapidly. This unique characteristic can cause network disconnection or channel congestion. Moreover, t...