Terrance J. Flynn

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In this paper, a new continuous observer is developed to determine range information (and hence the 3dimensional (3D) coordinates) of an object feature moving with affine motion dynamics (or the more general Riccati motion dynamics) with known motion parameters. The unmeasurable range information is determined from a single camera provided an observability(More)
A new adaptive controller is developed for wheeled mobile robots with parametric uncertainty in the dynamic model. The main theoretical contribution is the modular manner in which the control law and parameter update law are designed. This feature allows for design flexibility in the selection of the update law, and can be exploited to improve the transient(More)
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