Alexey S. Matveev

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

Are you Alexey S. Matveev?

Claim your profile

Publications (116)82.9 Total impact

  • Alexey S. Matveev, Michael C. Hoy, Andrey V. Savkin
    [Show abstract] [Hide abstract]
    ABSTRACT: We present a reactive strategy for the navigation of a mobile robot in dynamic a priori unknown environments densely cluttered with moving and deforming obstacles. Mathematically rigorous analysis of this law with the proof of its global convergence is provided; its performance is confirmed by computer simulations.
    Automatica 04/2015; 54. DOI:10.1016/j.automatica.2015.02.012 · 3.13 Impact Factor
  • Source
    [Show abstract] [Hide abstract]
    ABSTRACT: We consider a single non-holonomic Dubins-like robot traveling with a constant longitudinal speed in an a priori unknown and unsteady planar environment. The robot should detect, locate, and track the boundary of a dynamic environmental scalar field. The field is measured by an on-board sensor in a point-wise fashion at the robot's location. The focus is on unsteady boundaries that evolve over time in an arbitrary fashion, including deformations, i.e., changes of shapes and sizes. We present a sliding mode control method for localizing and tracking such boundaries: the robot is steered to the boundary and circulates in its close proximity afterwards. The proposed control algorithm does not require estimation of the spatial gradient of the field and is non-demanding with respect to both computation and motion. The paper offers the proofs of technical facts required for rigorous justification of non-local convergence of the proposed control law, as well as theoretical illustrations of its performance in specific scenarios.
  • Source
    Alexey S. Matveev, Michael C. Hoy, Andrey V. Savkin
    [Show abstract] [Hide abstract]
    ABSTRACT: We consider a single kinematically controlled robot with a bounded control range. The robot travels in a two-dimensional region supporting an unknown unsteady scalar field. A single sensor provides the field value at the current location of the robot. The paper is concerned with a reactive navigation strategy to drive the robot to the time-varying location where the field attains its spatial maximum, with subsequent keeping the robot close to this location. This strategy is based on a novel paradigm of kinematic control different from conventionally trying to align the velocity vector with the field gradient, does not employ estimation of the entire field gradient or derivative-dependent quantities, like the rate at which the available field reading evolves over time, and is non-demanding with respect to both computation and motion. The paper presents the proofs of the technical facts required to justify convergence of the proposed algorithm.
  • Alexey S. Matveev, Michael C. Hoy, Andrey V. Savkin
    [Show abstract] [Hide abstract]
    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 07/2014; 50(7). DOI:10.1016/j.automatica.2014.05.014 · 3.13 Impact Factor
  • Source
    Alexey S. Matveev, Michael C. Hoy, Andrey V. Savkin
    [Show abstract] [Hide abstract]
    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.
  • Michael Hoy, Alexey S. Matveev, Andrey V. Savkin
    [Show abstract] [Hide abstract]
    ABSTRACT: We review a range of techniques related to navigation of unmanned vehicles through unknown environments with obstacles, especially those that rigorously ensure collision avoidance (given certain assumptions about the system). This topic continues to be an active area of research, and we highlight some directions in which available approaches may be improved. The paper discusses models of the sensors and vehicle kinematics, assumptions about the environment, and performance criteria. Methods applicable to stationary obstacles, moving obstacles and multiple vehicles scenarios are all reviewed. In preference to global approaches based on full knowledge of the environment, particular attention is given to reactive methods based on local sensory data, with a special focus on recently proposed navigation laws based on model predictive and sliding mode control.
    Robotica 03/2014; 33(03):1-35. DOI:10.1017/S0263574714000289 · 0.89 Impact Factor
  • [Show abstract] [Hide abstract]
    ABSTRACT: We consider a team of autonomous kinematically controlled non-holonomic planar Dubins car-like vehicles. The team objective is to encircle a given target so that all vehicles achieve a common and pre-specified distance from it and are uniformly distributed over the respective circle, and the entire formation rotates around the target with a prescribed angular velocity. The robots do not communicate with each other and any central decision-maker. The sensing capacity of any vehicle is heavily restricted: It has access only to the distance to the target and to the distances to the companion vehicles that are in a given disc sector centered at the vehicle at hand; no robot can distinguish between its companions, and does not know their parameters. A distributed control law is proposed, and mathematically rigorous proofs of its non-local convergence as well as collision avoidance property are presented. The performance of the control law is illustrated by computer simulations and experiments with real robots.
    Robotica 02/2014; 33(02):385-412. DOI:10.1017/S0263574714000320 · 0.89 Impact Factor
  • Alexey S. Matveev, Michael C. Hoy, Andrey V. Savkin
    [Show abstract] [Hide abstract]
    ABSTRACT: We consider a single nonholonomic underactuated robot with a bounded control range. The robot travels in a three-dimensional 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. This strategy is based on a novel paradigm of kinematic control different from conventionally trying to align the velocity vector with the field gradient. The proposed algorithm does not employ estimation of the field gradient 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.
    2013 IEEE 52nd Annual Conference on Decision and Control (CDC); 12/2013
  • [Show abstract] [Hide abstract]
    ABSTRACT: The paper deals with global stability analysis of linear control systems with saturation in feedback driven by an external input. Various new criteria based on non-quadratic Lyapunov functions are proposed, that unlike many previous results, offer better account for the role of the external excitation by providing input-dependent conditions for stability of solutions. For example, it is shown that even if the system fails to satisfy the incremental version of the circle criterion, the stability is guaranteed whenever the uniform root mean square value of the input signal is less than a computable threshold. The general theoretical results are illustrated in the case of the double integrator closed by a saturated linear feedback with an external excitation.
    2013 IEEE 52nd Annual Conference on Decision and Control (CDC); 12/2013
  • [Show abstract] [Hide abstract]
    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. DOI:10.1016/j.robot.2013.05.003 · 1.11 Impact Factor
  • A.Y. Pogromsky, A. S. Matveev
    [Show abstract] [Hide abstract]
    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. DOI:10.1016/j.sysconle.2013.02.002 · 1.89 Impact Factor
  • A. S. Matveev, M. C. Hoy, AV Savkin
    [Show abstract] [Hide abstract]
    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 05/2013; 49(5). DOI:10.1016/j.automatica.2013.01.046 · 3.13 Impact Factor
  • Source
    Chao Wang, Alexey S. Matveev, Andrey V. Savkin
    [Show abstract] [Hide abstract]
    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.
  • Alexey S. Matveev, Michael C. Hoy, Andrey V. Savkin
    [Show abstract] [Hide abstract]
    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 03/2013; 61(3-3):312-327. DOI:10.1016/j.robot.2012.12.003 · 1.11 Impact Factor
  • [Show abstract] [Hide abstract]
    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
    [Show abstract] [Hide abstract]
    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
  • [Show abstract] [Hide abstract]
    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
  • [Show abstract] [Hide abstract]
    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
  • A.S. Matveev, M.C. Hoy, A.V. Savkin
    [Show abstract] [Hide abstract]
    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
  • Michael Hoy, Alexey S Matveev, Andrey V. Savkin
    [Show abstract] [Hide abstract]
    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 10/2012; 60(10). DOI:10.1016/j.robot.2012.07.002 · 1.11 Impact Factor

Publication Stats

1k Citations
82.90 Total Impact Points

Institutions

  • 2002–2015
    • Saint Petersburg State University
      Sankt-Peterburg, St.-Petersburg, Russia
  • 2001–2014
    • University of New South Wales
      • School of Electrical Engineering and Telecommunications
      Kensington, New South Wales, Australia
  • 1998–2001
    • University of Western Australia
      • School of Electrical, Electronic and Computer Engineering
      Perth City, Western Australia, Australia