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Nonlinear control of unicycle-like robots for person following

This paper addresses the person following problem for nonholonomic wheeled robots. Because of the robot's nonholonomy and the difficulty to estimate the person orientation, classical control laws used to address this problem induce strong limitations on the desired robot location with respect to the person. We propose a new nonlinear control law that allows for much more versatility in this following application. Simulation and experimental results performed in real scenarios verify the effectiveness of the proposed approach.