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Author

B. Jayawardhana

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Preprint Oct 2026

Flatness-Based Geometric Path Following via Guiding Vector Fields

A unified algorithm is presented, which is term flatness-based geometric control (FGC), that generates the DFBC reference hierarchy directly from a GVF and its higher-order time derivatives, eliminating the need for a pre-planned time-parameterized trajectory while retaining full dynamics-informed control.

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

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