6 accepted papers
General purpose simulators provide cheap training data to learn complex robotic skills. However, the transition from simulation to reality is often very challenging for the agent. One major issue is the delay on the physical robot that may deteriorate the performance of the deployed agent. Furthermo…
In this paper, the problem associated with accurate control of a two-wheel steering mobile robot following a path is addressed thanks to a backstepping control strategy. This approach involves an observer to estimate the grip conditions, based on previous work, and the proposed control algorithm for…
In this paper, the problems associated with accurate path tracking control in off-road conditions is addressed with model-based adaptive control. In particular, the estimation of grip conditions is investigated through the derivation of a new observer and by gathering kinematic and dynamic models in…
One of the most important points in path tracking applications, is the capability of the robot to track the desired path as accurately as possible. Results presented in the literature in on-road contexts are convincing, but the case of off-road mobile robots introduces other issues, like bad grip co…
We describe an on-line observer that allows to monitor the soil-tire contact longitudinal stiffness of off-road vehicles equipped with low cost sensors. The knowledge of such a value is a milestone in the development of active security devices, or at least a mean to inform the driver about the longi…