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Author

Jonathan Ledy

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Open access Nov 2026

Differential-Flatness-Based Path Planning for Semi-Rigid Formations of Ackermann-Steered Vehicles With Obstacle Avoidance

This letter presents a geometric path planner for semi-rigid formations of Ackermann-steered vehicles. Differential flatness separates geometric feasibility from the timing law, while fixed Cartesian offsets allow every follower path to be reconstructed from one leader path. A leader–follower curvature relation, valid...

Aaron Fagninou, David Vieira, Jonathan Ledy et al. · 0 citations

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