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• W2149129194 abstract "This paper considers the problem of steering a nonholonomic unicycle despite model perturbation that scales both the forward speed and the turning rate by an unknown but bounded constant. We model the unicycle as an ensemble control system, show that this system is ensemble controllable, and derive an approximate steering algorithm that brings the unicycle to within an arbitrarily small neighborhood of any given Cartesian position. We apply our work to a differential-drive robot with unknown but bounded wheel radius and validate our approach with hardware experiments." @default.
• W2149129194 created "2016-06-24" @default.
• W2149129194 creator A5062449649 @default.
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• W2149129194 date "2012-06-01" @default.
• W2149129194 modified "2023-09-30" @default.
• W2149129194 title "Approximate Steering of a Unicycle Under Bounded Model Perturbation Using Ensemble Control" @default.
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• W2149129194 doi "https://doi.org/10.1109/tro.2011.2182117" @default.
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