We address the following problem: Given a simple polygon $P$ with $n$ vertices and two points $s$ and $t$ inside it, find a minimum link path between them such that a given target point $q$ is visible from at least one point on the path. The method is based on partitioning a portion of $P$ into a number of faces of equal link distance from a source point. This partitioning is essentially a shor...

This paper presents a path recognition and virtual guides (VGs) design method for task of following based on human-robot collaboration (HRC). Firstly, support vector machine (SVM) combined with least squares (LS) is developed to recognize the desired human guidance. Secondly, VGs are designed admittance control collaborative following, which combine human's decision-making robot's accurate exec...

Abstract The time-optimal path following (OPF) problem is to find a time evolution along prescribed in task space with shortest duration. Numerical solution algorithms rely on an algorithm-specific (usually equidistant) sampling of the parameter. This does not account for dynamics joint space, that is, actual motion robot, however. Moreover, well-known large velocities are obtained when approac...

In the vector-field guided path-following problem, a sufficiently smooth vector field is designed such that its integral curves converge to and move along one-dimensional geometric desired path. The existence of singular points where vanishes creates topological obstruction global convergence path some associated analysis has been conducted in [1]. this paper, we strengthen result [1, Theorem 2...

We consider the task of omnidirectional path following for a quadruped robot: moving a four-legged robot along any arbitrary path while turning in any arbitrary manner. Learning a controller capable of such motion requires learning the parameters of a very high-dimensional policy class, which requires a prohibitively large amount of data to be collected on the real robot. Although learning such...