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Our technique improves previous sinusoidal-based control works in terms of efficiency and flexibility. As further contributions, we present analytical expressions for the evolution of the robot's state, and propose a new state-feedback control law based on these expressions. All the information used in the control scheme is obtained from omnidirectional vision by means of the one-dimensional trifocal tensor. Stability analysis of the proposed approach is presented, and its performance is illustrated through experiments.<\/jats:p>","DOI":"10.1017\/s0263574713000106","type":"journal-article","created":{"date-parts":[[2013,2,13]],"date-time":"2013-02-13T09:21:25Z","timestamp":1360747285000},"page":"811-823","source":"Crossref","is-referenced-by-count":3,"title":["Sinusoidal input-based visual control for nonholonomic vehicles"],"prefix":"10.1017","volume":"31","author":[{"given":"M.","family":"Aranda","sequence":"first","affiliation":[]},{"given":"G.","family":"L\u00f3pez-Nicol\u00e1s","sequence":"additional","affiliation":[]},{"given":"C.","family":"Sag\u00fc\u00e9s","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2013,2,13]]},"reference":[{"key":"S0263574713000106_ref22","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-005-0603-7"},{"key":"S0263574713000106_ref37","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2010.02.011"},{"key":"S0263574713000106_ref27","doi-asserted-by":"publisher","DOI":"10.1177\/1059712311398669"},{"key":"S0263574713000106_ref2","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2006.250573"},{"key":"S0263574713000106_ref32","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2007.10.005"},{"key":"S0263574713000106_ref21","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-008-9093-8"},{"key":"S0263574713000106_ref30","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511811685"},{"key":"S0263574713000106_ref25","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-010-9195-y"},{"key":"S0263574713000106_ref17","doi-asserted-by":"publisher","DOI":"10.1109\/9.580865"},{"key":"S0263574713000106_ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2004.837240"},{"key":"S0263574713000106_ref5","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008128724364"},{"key":"S0263574713000106_ref6","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574799002210"},{"key":"S0263574713000106_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/34.982903"},{"key":"S0263574713000106_ref20","doi-asserted-by":"crossref","first-page":"2161","DOI":"10.1109\/ROBOT.2005.1570433","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Benhimane","year":"2005"},{"key":"S0263574713000106_ref14","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574709005402"},{"key":"S0263574713000106_ref28","article-title":"Multi-waypoint visual homing in piecewise linear trajectory","author":"Fu","year":"2012","journal-title":"Robotica"},{"key":"S0263574713000106_ref31","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008194012143"},{"key":"S0263574713000106_ref33","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2009.09.005"},{"key":"S0263574713000106_ref9","doi-asserted-by":"publisher","DOI":"10.1007\/BFb0036073"},{"key":"S0263574713000106_ref24","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2005.12.001"},{"key":"S0263574713000106_ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2039379"},{"key":"S0263574713000106_ref26","first-page":"3944","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Liu","year":"2012"},{"key":"S0263574713000106_ref39","first-page":"1136","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Samson","year":"1991"},{"key":"S0263574713000106_ref19","first-page":"407","article-title":"Homography-based visual servo tracking control of a wheeled mobile robot","volume":"22","author":"Chen","year":"2006","journal-title":"IEEE Trans. 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