Pascal Lépinay

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— This paper proposes an algorithm that drives a unicycle type robot to a desired path, including obstacle avoidance capabilities. The path following control design relies on Lyapunov theory, backstepping technics and deals explicitly with vehicle dynamics. Furthermore, it overcomes initial condition constraint present in a number of path following control(More)
This paper proposes an algorithm that drives a unicycle type robot to a desired path, including obstacle avoidance capabilities. The path-following control design relies on Lyapunov theory, backstep-ping techniques and deals explicitly with vehicle dynamics. Furthermore , it overcomes the initial condition constraints present in a number of path-following(More)
— In order to achieve the autonomy of mobile robots, effective localization is a necessary prerequisite. In this paper, we propose an improved Monte Carlo localization using self-adaptive samples, abbreviated as SAMCL. This algorithm employs a pre-caching technique to reduce the on-line computational burden. Further, we define the concept of similar energy(More)
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