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This paper is dedicated to the robust stabilization and tracking problems for a wheeled mobile robot. After the mobile robot dynamics have been transformed into an advantageous form, a robust integral sliding mode controller is designed to promulgate a practical stabilization in spite of the uncertainties. The performance of the proposed controller is experimentally demonstrated on a real robot.
This paper presents an architecture for the navigation of an autonomous mobile robot evolving in an uncertain environment with obstacles. The proposed strategy consists in separating the path planning from the control algorithm. The path planning is done by computing the time optimal collision-free trajectory which takes into account the limitations on the linear and angular speeds of the vehicle...
Aims To evaluate the usefulness of three-dimensional (3D) electroanatomical mapping of the pulmonary veins (PV) for guiding radiofrequency (RF) ablation of focal atrial fibrillation (AF) in a single session and to correlate the electrophysiological results with the six month clinical outcome. Methods and Results Sixteen consecutive patients with idiopathic paroxysmal AF (more than 1 episode/month)...
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