We consider mobile robots described through unicycle dynamics equipped with on-board range sensors and cameras, one facing forward and one facing backward, providing measurements of the distance and misalignment to a target. We propose a hybrid control law combining the two on-board measurements and discuss stability results for the closed-loop expressed in the on-board camera-based coordinates, using Lyapunov-based arguments. We prove robustness of the stability properties to uncertainties affecting the sensors and external perturbations acting on the robot. The results are illustrated via simulations. (c) 2025 Elsevier Ltd. All rights are reserved, including those for text and data mining, AI training, and similar technologies.
Orchestrating on-board sensors for global hybrid robust stabilization of unicycles / Ballaben, Riccardo; Astolfi, Alessandro; Braun, Philipp; Zaccarian, Luca. - In: AUTOMATICA. - ISSN 0005-1098. - 183:(2026), pp. 112502-112502. [10.1016/j.automatica.2025.112502]
Orchestrating on-board sensors for global hybrid robust stabilization of unicycles
Ballaben, Riccardo;Zaccarian, Luca
2026-01-01
Abstract
We consider mobile robots described through unicycle dynamics equipped with on-board range sensors and cameras, one facing forward and one facing backward, providing measurements of the distance and misalignment to a target. We propose a hybrid control law combining the two on-board measurements and discuss stability results for the closed-loop expressed in the on-board camera-based coordinates, using Lyapunov-based arguments. We prove robustness of the stability properties to uncertainties affecting the sensors and external perturbations acting on the robot. The results are illustrated via simulations. (c) 2025 Elsevier Ltd. All rights are reserved, including those for text and data mining, AI training, and similar technologies.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione
