Controllability and properties of optimal paths for a differential drive robot with field-of-view constraints

S. Bhattacharya, S. Hutchinson
Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.  
This work presents the proof of controllability for a differential drive robot that maintains visibility of a landmark. The robot has limited sensing capabilities (angle of view). We also present properties of optimal paths for this system.
doi:10.1109/robot.2006.1641939 dblp:conf/icra/BhattacharyaH06 fatcat:mxwx2or7wnb4nd4n2v5hcjvrbm