@article{Quiroz-Omana2017,
   abstract = {This paper presents some improvements to the robot kinematic control strategy based on linear program-ming, as well as its application to a nonholonomic mobile manipulator. In addition to being computationally efficient, this approach enables the inclusion of inequality and equal-ity constraints in the system control inputs and has formal guarantee of stability. We first propose a new positive defi-nite function of the error variation to avoid joint movements when the robot end-effector stabilizes at a point differ-ent from the desired one. In addition, the nonholonomic constraint of the mobile base is imposed as an equality con-straint, and inequality constraints are defined to avoid both violation of joint limits and collisions between the mobile base and obstacles in the plane. Last, a performance com-parison between the linear programming strategy and an approach based on the pseudoinverse of the whole-body Jacobian matrix is presented. Experimental results show that the controller based on linear programming has low compu-tational cost, and the robot is able to control its end-effector without colliding with obstacles in the plane and without violating its joints limits. However, it tends to generate more abrupt control signals than the continuous controller based on the pseudoinverse of the whole-body Jacobian matrix.},
   author = {Juan José Quiroz-Omaña and Bruno Vilhena Adorno},
   doi = {10.1007/s10846-017-0713-4},
   issn = {0921-0296},
   issue = {2},
   journal = {Journal of Intelligent & Robotic Systems},
   keywords = {dual quaternion,kinematic control,linear,mobile manipulator,parsimonious control,programming,whole-body control},
   month = {8},
   pages = {263-278},
   title = {Whole-Body Kinematic Control of Nonholonomic Mobile Manipulators Using Linear Programming},
   doi = {10.1007/s10846-017-0713-4},
   url = {https://link.springer.com/article/10.1007/s10846-017-0713-4},
   volume = {91},
   year = {2018},
   custom_type  = {1. Journal Paper},
}

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We first propose a new positive defi-nite function of the error variation to avoid joint movements when the robot end-effector stabilizes at a point differ-ent from the desired one. In addition, the nonholonomic constraint of the mobile base is imposed as an equality con-straint, and inequality constraints are defined to avoid both violation of joint limits and collisions between the mobile base and obstacles in the plane. Last, a performance com-parison between the linear programming strategy and an approach based on the pseudoinverse of the whole-body Jacobian matrix is presented. Experimental results show that the controller based on linear programming has low compu-tational cost, and the robot is able to control its end-effector without colliding with obstacles in the plane and without violating its joints limits. 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Journal Paper","bibtex":"@article{Quiroz-Omana2017,\n abstract = {This paper presents some improvements to the robot kinematic control strategy based on linear program-ming, as well as its application to a nonholonomic mobile manipulator. In addition to being computationally efficient, this approach enables the inclusion of inequality and equal-ity constraints in the system control inputs and has formal guarantee of stability. We first propose a new positive defi-nite function of the error variation to avoid joint movements when the robot end-effector stabilizes at a point differ-ent from the desired one. In addition, the nonholonomic constraint of the mobile base is imposed as an equality con-straint, and inequality constraints are defined to avoid both violation of joint limits and collisions between the mobile base and obstacles in the plane. 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