In this article, we have addressed the control problem of unicycle path following, using a rigidly attached target point. The initial path following problem has been transformed into a reference trajectory following problem, using saturated control laws and a geometric characterization hypothesis. This hypothesis links the curvature of the path to be followed with the target point. The proposed...

In this paper, path following control and trajectory tracking control of a mobile robot have been studied. Reference convergence in a path following problem and time convergence in a trajectory tracking problem are considered in the cost function of the nonlinear model predictive control framework. The benefit of path following control is that the path following controller eliminates aggressive...

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...

In path-following the control objective is to force the output to follow a geometric path without a timing law assigned to it. We highlight a fundamental difference between the path-following and the standard reference-tracking by demonstrating that performance limitation due to unstable zero-dynamics can be removed in the path-following problem.

Adaptive Intelligent Tutoring Systems (ITS) aim at helping students going through the resolution of a given problem in a principled way according to the desired outcomes, the intrinsic capabilities of the student, and the particular context in which the exercise takes place. These systems should be capable of acting according to mistakes, boredness, distractions, etc. Several works propose diff...

the problem of finding the minimum cost multi-commodity flow in an undirected and completenetwork is studied when the link costs are piecewise linear and convex. the arc-path model and overflowmodel are presented to formulate the problem. the results suggest that the new overflow model outperformsthe classical arc-path model for this problem. the classical revised simplex, frank and wolf and a ...