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- W3124343313 abstract "For unicycle robots and an arbitrary continuous reference tracking controller, we propose a mildly invasive obstacle avoidance augmentation only activated in an eye-shaped neighborhood around an obstacle and providing avoidance guarantees. Switching between different control phases is orchestrated by a hybrid automaton with hysteresis mechanisms that prevent Zeno behavior. Since the size of the eye-shaped neighborhood and its orientation depend continuously on the orientation and velocity of the robot, the velocity control input is continuous. Numerical simulations illustrate the performance of an avoidance-augmented tracking controller." @default.
- W3124343313 created "2021-02-01" @default.
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- W3124343313 date "2021-01-01" @default.
- W3124343313 modified "2023-09-30" @default.
- W3124343313 title "Augmented obstacle avoidance controller design for mobile robots" @default.
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- W3124343313 doi "https://doi.org/10.1016/j.ifacol.2021.08.491" @default.
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