Author

Hai-Fei Chen

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Open access Oct 2026

Improved DWA-Based Local Path Planning for Multi-Robot Navigation

The Dynamic Window Approach (DWA) evaluates candidate motions for local robot navigation. This paper presents an Improved Dynamic Window Approach (IDWA) with two changes to trajectory evaluation. First, a distance threshold selects a near-term reference state on each predicted trajectory for heading evaluation. Second,...

Jia-Hao Zhu, Yuan-Kang Wang, Kai Liao et al. · Agriculture · 0 citations

Open access Sep 2026

Distance + angle rigid formation control for multi-agent systems: nonholonomic kinematic realization and configuration preservation

A distance + angle rigid formation controller for nonholonomic MAS that helps prevent formation deformation and configuration instability often observed in path-tracking coordination methods, including APF-based approaches, thereby supporting complex multi-modal navigation scenarios.

Yuan-Kang Wang, Hai-Fei Chen, Kai Liao et al. · Measurement science and tech... · 0 citations