• Control of Mobile Platforms Using a Virtual Vehicle Approach 

      Egerstedt, Magnus B.; Hu, Xiaoming; Stotsky, A. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2001-11)
      Two model independent solutions to the problem of controlling wheel-based mobile platforms are proposed. These two algorithms are based on a so called virtual vehicle approach, where the motion of the reference point ...
    • Reactive Mobile Manipulation Using Dynamic Trajectory Tracking 

      Ögren, Petter; Egerstedt, Magnus B.; Hu, Xiaoming (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2000-04)
      A solution to the trajectory tracking problem for mobile manipulators is proposed, that allows for the base to be influenced by a reactive, obstacle avoidance behavior. Given a trajectory for the gripper to follow, a ...
    • Reactive Mobile Manipulation: Design and Implementation 

      Ögren, Petter; Egerstedt, Magnus B.; Hu, Xiaoming (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2000-12)
      A solution to the trajectory tracking problem for mobile manipulators is proposed and implemented on a real robotic system. Given a trajectory for the gripper to follow, a tracking algorithm for the manipulator is designed, ...