Mobility analysis is crucial to fast, safe, and autonomous operation of planetary Wheeled Mobile Robots (WMRs). This paper reviews implemented odometry techniques on currently designed WMRs surveys methods for improving their mobility traversability. The are categorized based the employed approaches ranging from signal-based model-based estimation terramechanics-based, machine learning, global ...

We present a control framework for achieving encirclement of a 3D target using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their effectiveness is formally established. An extension ensuring maintenance of a safe inter-robot distance is also discussed. The proposed framework is fully decentralized and onl...

This paper presents a new motion planning algorithm for wheeled mobile robots in presence of known static obstacles, especially well-suited for high velocity situations. It takes into account several conditions traditionally attached to smooth path planning, i.e. paths with continuous derivative and upper-bounded curvature. It makes use of a global path planner which exploits polynomial G curve...

Omni-directional mobile robots have been popularly employed in several application areas. However, the kinematics for these systems have not been clearly identified, specially for redundantly actuated case which is common in omni-directional mobile robot such as Nomadic model. For such mobile robot systems, exploitation of redundant actuation as well as singularity analysis has not been extensi...