Video Attachment for paper: A. Becker and T. Bretl, "Approximate Steering of a Unicycle Under Bounded Model Perturbation Using Ensemble Control," IEEE Transactions on Robotics, 2012.
This video submission shows the hardware experiments that are described in Section V of our paper. We applied our approximate steering algorithm to a differential-drive robot with unknown but bounded wheel radius. This algorithm produced a single input trajectory. The video shows the results of applying this same trajectory in open-loop to a robot with four different wheel sizes. The robot ends up in a neighborhood of the same Cartesian position every time.
Author: Aaron Becker
paper doi: 10.1109/TRO.2011.2182117
paper URL: [ Ссылка ]
preprint at [ Ссылка ]
source code: [ Ссылка ]
