Robotics paper index
Bearing-Only Solution to the Fermat-Weber Location Problem for Unicycle Agent
One-line summary
The study presents a novel bearing-only solution to the Fermat-Weber Location Problem for unicycle agents, accommodating nonholonomic constraints.
Engineering notes
The findings can be beneficial for robotic navigation in environments where only angular measurements are available, such as search and rescue missions or autonomous vehicle routing in dynamic scenarios.
Chinese explanation / 中文解读
本论文研究了针对单轮驱动代理的费马-韦伯位置问题（FWLP）的基于方向的算法。与现有的FWLP解决方案不同，本方法考虑了轮式机器人的非完整约束，提出了针对静止信标和运动信标的控制律，并通过仿真和实验验证了其有效性。
Original abstract
This paper addresses bearing-only algorithms for solving the Fermat-Weber Location Problem (FWLP) with a unicycle agent. Unlike existing FWLP solutions for single- or double-integrator agents, our approach accounts for the nonholonomic constraints of wheeled robots. We first develop a bearing-only control law for the case with stationary beacons. Next, we consider saturated control inputs and propose a corresponding bearing-only control law. Finally, we address moving beacons with constant velocities and develop a control law that enables the unicycle agent to track the moving Fermat-Weber point. Both simulations and experiments are provided to demonstrate the effectiveness of the proposed methods.
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