defence W. Yao: "Guiding vector fields for robot motion control: theory and applications

Promotors: Prof. dr. M. Cao and Prof.dr.ir. J.M.A. Scherpen

Abstract: Using a designed vector field to guide robots to follow a given geometric desired path has found a range of practical applications, such as underwater pipeline inspection, warehouse navigation and highway traffic monitoring. It is thus in great need to build a rigorous theory to guide practical implementations with formal guarantees. It is even so when multiple robots are required to follow predefined desired paths or maneuver on surfaces and coordinate their motions to efficiently accomplish repetitive and laborious tasks.

In this thesis, we propose and study a specific class of vector field, called guiding vector fields, for single-robot and multi-robot path following and motion coordination. In Part I of the thesis, we derive extensive theoretical results. And then in Part II, we elaborate on how to apply the guiding vector field with variations in practical applications.