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This technical note presents gradient-descent coverage algorithms for a group of nonholonomic vehicles. Similarly to previous approaches, the deployment strategy relies on Locational Optimization techniques and algorithms are distributed in the sense of the Delaunay graph. In order to deal with unicycle dynamics and guarantee performance, we introduce several vehicle modes and integrate them in a...
In this paper, a new optimization based design method for stabilization of polynomial systems with input constraints is presented. The method utilizes the sum of squares decomposition of polynomials and results in a nonpolynomial control law fulfilling amplitude constraints of the input. Consideration of input rate constraints can be included by extending the optimization problem. The resulting sum...
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