Author

Zhou-Ru Xiao

3 papers indexed here

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Preprint Sep 2026

Decoupling Physical Speed from Path Parameterization in Singularity-Free Guiding Vector Fields

The existing singularity-free guiding vector field (SF-GVF) with an additional virtual coordinate can eliminate singular points (i.e., points where the vector field vanishes) inherent in conventional GVFs and guarantee global convergence of robot trajectories to closed and self-intersecting desired paths. However, the...

Zhou-Ru Xiao, Sha Luo, Yang Lu et al. · 0 citations

Jul 2026

Finite-Time Curvature-Constrained Vector Field for Saturation-Free Motion Planning of Nonholonomic Robots

A generalized motion planning and control framework consisting of a finite-time curvature-constrained vector field (FT-C2VF) and a saturation-free control law is proposed, which establishes almost-global finite-time stability of the target equilibrium.

Zhou-Ru Xiao, Sha Luo, Yang Lu et al. · arXiv.org · 0 citations

Preprint Sep 2026

Distributed Safe Cooperative Vector Field for Trajectory Curvature Constrained Multi-Robot Systems

A safety-oriented collision avoidance vector field with adaptively adjustable reactive boundary is developed to accommodate the kinematic curvature constraints of robots, thereby ensuring the physical feasibility of collision avoidance maneuvers.

Zhou-Ru Xiao, Tao Teng, Wei-Jia Yao et al. · 0 citations