Radu Bogdan Rusu and Marius Borodi. On Computing Robust Controllers for Mobile Robot Trajectory Calculus: Lyapunov. Unpublished 2005. Tutorial written for the Robotux.info web site.
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Abstract
We present a simple method for a mobile robot's trajectory calculus using the famous Lyapunov equations. This research has been already conducted by several other researchers before us, so we take no credit for it. We just reproduced the results for ourselves, by studying Lyapunov's theories and the papers presented in the references section. While the mathematical foundation is quite easy to understand, we feel that these results have not been exploited enough in mobile robotics. Therefore, we strongly encourage people entering this area of research, to glance at them before going deeper and start studying more complex methods.
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BibTeX Entry
@Unpublished{Rusu05RobotuxLyapunov,
author = {Radu Bogdan Rusu and Marius Borodi},
title = {On Computing Robust Controllers for
Mobile Robot Trajectory Calculus: Lyapunov},
year = {2005},
note = {Tutorial written for the Robotux.info web site.},
abstract = {We present a simple method for a mobile robot's trajectory
calculus using the famous Lyapunov equations. This research
has been already conducted by several other researchers before
us, so we take no credit for it. We just reproduced the results
for ourselves, by studying Lyapunov's theories and the papers
presented in the references section. While the mathematical
foundation is quite easy to understand, we feel that these
results have not been exploited enough in mobile robotics.
Therefore, we strongly encourage people entering this area of
research, to glance at them before going deeper and start
studying more complex methods.},
}
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