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On path following control of nonholonomic mobile manipulators

Alicja Mazur, Dawid Szakiel (2009)

International Journal of Applied Mathematics and Computer Science

This paper describes the problem of designing control laws for path following robots, including two types of nonholonomic mobile manipulators. Due to a cascade structure of the motion equation, a backstepping procedure is used to achieve motion along a desired path. The control algorithm consists of two simultaneously working controllers: the kinematic controller, solving motion constraints, and the dynamic controller, preserving an appropriate coordination between both subsystems of a mobile manipulator,...

On possible growths of arithmetical complexity

Anna E. Frid (2006)

RAIRO - Theoretical Informatics and Applications

The arithmetical complexity of infinite words, defined by Avgustinovich, Fon-Der-Flaass and the author in 2000, is the number of words of length n which occur in the arithmetical subsequences of the infinite word. This is one of the modifications of the classical function of subword complexity, which is equal to the number of factors of the infinite word of length n. In this paper, we show that the orders of growth of the arithmetical complexity can behave as many sub-polynomial functions. More...

On problems of databases over a fixed infinite universe

Oleg Belegradek, Alexei Stolboushkin, Michael Taitslin (1999)

Banach Center Publications

In the relational model of databases a database state is thought of as a finite collection of relations between elements. For many applications it is convenient to pre-fix an infinite domain where the finite relations are going to be defined. Often, we also fix a set of domain functions and/or relations. These functions/relations are infinite by their nature. Some special problems arise if we use such an approach. In the paper we discuss some of the problems. We show that there exists a recursive...

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