This article presents a solution to the path following problem for the planar vertical take-off and landing aircraft (PVTOL) which is applicable to a class of smooth Jordan curves. Our path following methodology enjoys the two properties of output invariance of the path (i.e., if the PVTOL’s centre of mass is initialized on the path and its initial velocity is tangent to the path, then the PVTO...

This paper addresses the problem of path following for mobile robots with particular emphasis on integrating the global path planning, path following and a collision avoidance scheme in a unified framework. Whereas the traditional path following algorithms aim at minimizing an error function with respect to a given path and kinematic and/or dynamic model of the robot, the problem of collision a...

This paper extends an existing saliency-based model for path detection and tracking so that the appearance of the path being followed can be learned and used to bias the saliency computation process. The goal is to reduce ambiguities in the presence of strong distractors. In both original and extended path detectors, neural and swarm models are layered in order to attain a hybrid solution. With...