Author

B. Jayawardhana

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Preprint Oct 2026

Flatness-Based Geometric Path Following via Guiding Vector Fields

Path following requires an agent to converge to and traverse a geometric path without a prescribed timing law. Guiding vector fields (GVFs) address this directly, but as guidance laws they offer no mechanism to compensate for the agent's own dynamics. Differential flatness-based control (DFBC), on the other hand, compe...

J. VanGool, Héctor García de Marina, B. Jayawardhana et al. · 0 citations