Alexey S. Matveev

Saint Petersburg State University, Sankt-Peterburg, St.-Petersburg, Russia

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Publications (108)37.31 Total impact

  • Source
    Alexey S. Matveev, Michael C. Hoy, Andrey V. Savkin
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    ABSTRACT: We present a method for guidance of a Dubins-like vehicle with saturated control towards a target in a steady simply connected maze-like environment. The vehicle always has access to to the target relative bearing angle (even if the target is behind the obstacle or is far from the vehicle) and the distance to the nearest point of the maze if it is within the given sensor range. The proposed control law is composed by biologically inspired reflex-level rules. Mathematically rigorous analysis of this law is provided; its convergence and performance are confirmed by computer simulations and experiments with real robots.
    03/2014;
  • Alexey S. Matveev, Michael C. Hoy, Andrey V. Savkin
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    ABSTRACT: A nonholonomic under-actuated robot with bounded control travels in a 3D region. A single sensor provides the value of an unknown scalar field at the current location of the robot. We present a new kinematic control paradigm to drive the robot to the maximizer of the field, which is different from conventionally trying to align the velocity vector with the field gradient. The proposed strategy does not employ gradient estimation and is non-demanding with respect to both computation and motion. Its mathematically rigorous analysis and justification are provided. Simulation results confirm the applicability and performance of the proposed guidance approach.
    Automatica. 01/2014;
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    ABSTRACT: The paper considers the problem of automatic path tracking by autonomous farming vehicles subject to wheel slips, which are characteristic for agricultural applications. Two guidance laws are proposed to solve this problem, and both explicitly take into account the constraints on the steering angle and ensure tracking an arbitrarily curved path. The first law is implemented by the pure sliding-mode controller, whereas the second one combines the sliding mode approach with a smooth nonlinear control law and requests control chattering at the reduced amplitude as compared with the first law. Mathematically rigorous proofs of global convergence and robust stability of the proposed guidance laws are presented. In doing so, the slipping effects are treated as bounded uncertainties. Simulation results and real world experiments confirm the applicability and performance of the proposed guidance approach.
    Robotics and Autonomous Systems 09/2013; 61(9):973-987. · 1.16 Impact Factor
  • A.Y. Pogromsky, A.S. Matveev
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    ABSTRACT: A new test for stability of forced oscillations in nonlinear systems is proposed. The result is illustrated by an example of a saturated PI-control of an integrator with a harmonic reference signal. The range of frequencies and amplitudes that guarantee stability of the corresponding oscillations is found.
    Systems & Control Letters 05/2013; 62(5):408–412. · 1.67 Impact Factor
  • Source
    Chao Wang, Alexey S. Matveev, Andrey V. Savkin
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    ABSTRACT: This text presents the proofs of the technical facts underlying theoretical justification of the convergence and performance of the novel algorithm for reactive navigation of differential drive wheeled robots in dynamic uncertain environments. The algorithm restricts neither the natures nor the motions of the obstacles, they need not be rigid but conversely may deform. It does not consume data about the velocities, shapes, sizes, or orientations of the obstacles, and does not need a map of the environment or recognition of individual obstacles. The only information about the scene is the current distance to the nearest obstacle.
    04/2013;
  • AS Matveev, MC Hoy, AV Savkin
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    ABSTRACT: We present a method for guidance of a Dubins-like vehicle to its intended target in a steady simply connected maze-like environment. The vehicle always has access to the relative bearing of the target (even if the target is behind an obstacle or is far from the vehicle) and to the distance to the nearest point of the maze whenever this distance does not exceed the sensing range. The proposed control law is constituted of bio-inspired reflex-level rules. Mathematically rigorous analysis of this law is provided and confirmed by computer simulation and experiments with real robots.
    Automatica. 01/2013;
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    ABSTRACT: We present a reactive navigation algorithm that guarantees the safety of automated intelligent wheelchairs for people with mobility impairments in dynamic uncertain environments. The proposed navigation algorithm restricts neither the natures nor the motions of the obstacles, the shapes of the obstacles can be time-varying (deforming obstacles). Furthermore, the proposed navigation algorithm does not require prior information about the positions and velocities of the obstacles to accomplish obstacle avoidance. Simulation and experimental results show that intelligent electric-powered wheelchairs are able to successfully avoid collisions with moving obstacles such as pedestrians or vehicles under the guidance of the proposed algorithm and reach the target.
    Control Conference (ECC), 2013 European; 01/2013
  • A.S. Matveev, M.C. Hoy, A.V. Savkin
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    ABSTRACT: We consider a single kinematically controlled mobile robot traveling in a planar region supporting an unknown field distribution. A single sensor provides the distribution value at the current robot location. We present a new navigation strategy that drives the robot to the location where the field distribution attains its maximum. The proposed control algorithm employs estimation of neither the entire field gradient nor derivative-dependent quantities, like the rate at which the available measurement evolves over time, and is non-demanding with respect to both computation and motion. Its mathematically rigorous analysis and justification are provided. Simulation results confirm the applicability and performance of the proposed guidance approach.
    Control and Automation (ICCA), 2013 10th IEEE International Conference on; 01/2013
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    ABSTRACT: The paper presents a sliding mode guidance and control method for tracking of moving and deforming environmental level sets by a non-holonomic Dubins-car like vehicle traveling with a constant speed in a plane. The proposed control law steers the vehicle to the set where a scalar unknown and time-varying field distribution assumes a pre-specified value and ensures its subsequent circulation in a close proximity of this set. In doing so, only point-wise measurement of the field value in the vehicle current location is utilized, whereas estimation of the spatial gradient of the field is not required. The proposed algorithm is non-demanding with respect to both computation and motion. Its mathematically rigorous justification is provided. The effectiveness of the proposed guidance law is confirmed by computer simulations.
    Control and Automation (ICCA), 2013 10th IEEE International Conference on; 01/2013
  • A.S. Matveev, M.C. Hoy, A.V. Savkin
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    ABSTRACT: We consider a single kinematically controlled mobile robot traveling in a planar region supporting an unknown and unsteady field distribution. A single sensor provides the distribution value at the current robot location. We present a reactive navigation strategy that drives the robot to the time-varying location where the field distribution attains its spatial maximum and then keeps the robot in the pre-specified vicinity of the maximizer. The proposed control algorithm employs estimation of neither the entire field gradient nor derivative-dependent quantities, like the rate at which the available measurement evolves over time, and is non-demanding with respect to both computation and motion. Its mathematically rigorous analysis and justification are provided. Simulation results confirm the applicability and performance of the proposed guidance approach.
    Control Conference (ECC), 2013 European; 01/2013
  • Alexey S Matveev, Michael C Hoy, Andrey V Savkin
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    ABSTRACT: We consider the problem of reactively navigating an unmanned Dubins-like robot along an equidistant curve of an environmental object based on the distance to its boundary measured perpendicularly to the robot centerline and the angle of incidence of this perpendicular to the boundary. Such a situation holds if e.g., the measurements are supplied by range sensors rigidly mounted to the vehicle body at nearly right angles, or by a single sensor scanning a nearly perpendicular narrow sector. A sliding mode control law is proposed that drives the robot at a pre-specified distance from the boundary and maintains this distance afterwards. This is achieved without estimation of the boundary curvature and holds for boundaries with both convexities and concavities. Mathematically rigorous analysis of the proposed control law is provided, including an explicit account for the global geometry of the boundary. Computer simulations and experiments with real wheeled robots confirm the applicability and performance of the proposed guidance approach.
    Robotics and Autonomous Systems 01/2013; 61(3):312-327. · 1.16 Impact Factor
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    ABSTRACT: A new test for stability of forced oscillations in nonlinear systems is applied to a marginally stable plant of the second order with a saturated PID-control and a harmonic reference signal. The range of its frequencies and amplitudes that guarantee stability of the forced oscillations is found. This result is used for stability analysis of an aircraft roll angle control system.
    Control Conference (ECC), 2013 European; 01/2013
  • Alexey S. Matveev, Hamid Teimoori, Andrey V. Savkin
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    ABSTRACT: We consider a single Dubins-like vehicle traveling with a constant longitudinal speed in a planar region supporting an unknown field distribution. A sensor provides the distribution value at the vehicle location. We present a new sliding mode control method for tracking environmental level sets: the vehicle is steered to the set where the distribution assumes a pre-specified value and circulates along this set afterwards. The proposed control algorithm does not employ gradient estimation and is non-demanding with respect to both computation and motion. Its mathematically rigorous justification is provided. The effectiveness of the proposed guidance law is confirmed by computer simulations.
    Automatica. 09/2012; 48(9):2252–2261.
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    ABSTRACT: When employing autonomous helicopters, it is desirable to use navigation approaches, which firmly ensure safety. In this paper, we propose and compare two approaches to navigation through environments containing obstacles. The first uses sliding mode boundary following to maintain a prespecified distance to obstacles, and the second uses a model predictive control approach to plan short horizon trajectories around detected objects, while ensuring that the helicopter is brought to a halt within the sensor visibility radius. The navigation approaches are subjected to analysis for robustness, and simulations are carried out with a realistic helicopter model for verification. Additional real-world experiments were performed with a wheeled robot to demonstrate potential for real-time application.
    Robotica 07/2012; 30(04). · 0.88 Impact Factor
  • Alexey S. Matveev, Chao Wang, Andrey V. Savkin
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    ABSTRACT: We present a sliding mode based strategy for a unicycle-like robot navigation and guidance. The proposed navigation law is applied to the problems of patrolling the border of a moving and deforming domain and reaching a target through a dynamic environment cluttered with moving obstacles. Mathematically rigorous analysis of the proposed approach is provided. The convergence and performance of the algorithm is demonstrated via experiments with real robots and extensive computer simulation.
    Robotics and Autonomous Systems. 06/2012; 60(6):769–788.
  • Source
    Robotica 01/2012; 30(4):537-550. · 0.88 Impact Factor
  • Michael Hoy, Alexey S Matveev, Andrey V Savkin
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    ABSTRACT: When employing autonomous wheeled robots, it is desirable to use navigation approaches that always prevent collisions. In this paper, we consider the problem of navigating multiple vehicles through an unknown static environment with limited sensing and communication capabilities available. We propose a decentralized, cooperative, reactive, model predictive control based collision avoidance scheme that plans short range paths in the currently sensed part of the environment, and show that it is able to prevent collisions from occurring. An auxiliary controller is employed to follow previously planned paths whenever the main path planning system fails to update the path. Simulations and real-world testing in various scenarios confirm the methods validity.
    Robotics and Autonomous Systems 01/2012; · 1.16 Impact Factor
  • Alexey S Matveev, Michael C Hoy, Andrey V Savkin
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    ABSTRACT: We consider the problem of reactively navigating an unmanned vehicle along an obstacle in the case where data about its boundary are limited to the distance along and the reflection angle of the ray perpendicular to the vehicle centerline. Such situation holds if e.g., the measurements are supplied by several range sensors rigidly mounted at nearly right angles. A sliding mode control law is proposed that drives the vehicle at a pre-specified distance from the boundary and maintains this distance afterwards. This is achieved without estimation of the boundary curvature and holds for obstacles with both convexities and concavities. Mathematically rigorous analysis of the proposed control law is provided, including explicit account for the global geometry of the obstacle. Computer simulations and experiments with real wheeled robots confirm the applicability and performance of the proposed guidance approach.
    Control Automation Robotics & Vision (ICARCV), 2012 12th International Conference on; 01/2012
  • A.S. Matveev, Chao Wang, A.V. Savkin
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    ABSTRACT: We present a sliding mode based strategy for navigation of a unicycle-like robot to the target through a dynamic environment cluttered with moving and deforming obstacles. The proposed strategy is based on properly switching between moves to the target in straight lines and sliding-mode based bypasses of enroute obstacles via patrolling their borders at a pre-specified distance. The convergence and performance of the obstacle avoidance algorithm is demonstrated via real-life experiments and computer simulations.
    Control Conference (CCC), 2012 31st Chinese; 01/2012
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    ABSTRACT: We consider the problem of capturing a target by a team of kinematically controlled non-holonomic Dubins-like vehicles based on range-only measurements. Every vehicle has access to the distance to the target and the distances to the companions from the given disc sector centered at this vehicle. The objective is to drive all vehicles to the circle of the prescribed radius centered at the target, to uniformly distribute them along this circle, and to ensure the pre-specified speed and direction of their motion along the circle. A decentralized control law is proposed and investigated. Mathematically rigorous proofs of its convergence and stability, as well as collision avoidance property are presented; the performance of the control law is illustrated by computer simulations.
    Control Applications (CCA), 2012 IEEE International Conference on; 01/2012

Publication Stats

688 Citations
37.31 Total Impact Points

Institutions

  • 2002–2014
    • Saint Petersburg State University
      Sankt-Peterburg, St.-Petersburg, Russia
  • 2011
    • Technische Universiteit Eindhoven
      • Department of Mechanical Engineering
      Eindhoven, North Brabant, Netherlands
  • 2001–2011
    • University of New South Wales
      • School of Electrical Engineering and Telecommunications
      Kensington, New South Wales, Australia
  • 2004
    • University of South Wales
      Понтиприте, Wales, United Kingdom
  • 1998–2001
    • University of Western Australia
      • School of Electrical, Electronic and Computer Engineering
      Perth City, Western Australia, Australia