We report here the holonomy analysis of three wheeled mobile robots. Two of these, Vuton II and Nomad, have full mobility and are claimed by their inventors to be holonomic. We show that, in fact, they are nonholonomic. Nevertheless, conditions are given under which these robots can be designed for quasiholonomy, a concept introduced elsewhere and recalled here. The third robot, Quasimoro, has ...

In this paper, we develop estimation and control methods for quickly reacting to collisions between omnidirectional mobile platforms and their environment. To enable the full-body detection of external forces, we use torque sensors located in the robot’s drivetrain. Using model based techniques we estimate, with good precision, the location, direction, and magnitude of collision forces, and we ...

This paper presents the concepts for a new family of holonomic wheeled platforms that feature full omnidirectionality with simultaneous and independently controlled rotational and translational motion capabilities. We first present the “orthogonal-wheels” concept and the two major wheel assemblies on which these platforms are based. We then describe how a combination of these assemblies with ap...

We address the problem of applying reactive navigation methods to non-holonomic robots. Rather than embedding the motion constraints when designing a navigation method, we propose to introduce the robot’s kinematic constraints directly in the spatial representation. In this space the Ego-Kinematic Space the robot moves as a “free-flying object”. Hence, standard reactive navigation methods appli...

A cavity QED implementation of the non-adiabatic holonomic quantum computation in decoherence-free subspaces is proposed with nitrogen-vacancy centers coupled commonly to the whispering-gallery mode of a microsphere cavity, where a universal set of quantum gates can be realized on the qubits. In our implementation, with the assistant of the appropriate driving fields, the quantum evolution is i...

We consider an input-constrained differential-drive robot with actuator dynamics. For this system, we establish asymptotic stability of the origin on arbitrary compact, convex sets using Model Predictive Control (MPC) without stabilizing terminal conditions despite presence state constraints and note that problem those two additional ingredients was essentially solved beforehand, fact lineariza...

In this paper we present the design of a car test bed. The main characteristic of our test bed is the steering which is Non-Holonomic to resemble the normal car steering. This test bed is a rear wheel drive with frontal steering by servo motor. The control brain consists of RoBoard II and Arduino Micro controller. We used multiple sensors (Ultrasonic range finder, 6 DOF Accelerometer, Wheel enc...

In this paper a search algorithm is proposed to find a sub optimal path for a non-holonomic system. For this purpose the algorithm starts sampling the front part of the vehicle and moves towards the destination with a cost function. The bicycle model is used to define the non-holonomic system and a stability analysis with different integration methods is performed on the dynamics of the system....

We describe a behavior-based control system that enables a non-holonomic robot to push an object from an arbitrary starting position to a goal location through an obstacle eld. The approach avoids the need for maintaining an internal model of the target and obstacles and the potentially high computational overhead associated with traditional path planning approaches for non-holonomic robots. Th...