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climbing wheel chair ramp
These two movies demonstrates the boundary tracking control law we developed in:
Fumin Zhang, Eric Justh and P. S. Krishnaprasad, “Boundary Following using Gyroscopic Control,”  Proceedings of  IEEE Conference on Decision and Control 2004, 5204-5209. Preprint  [bibtex].
Fumin Zhang, Alan O’Connor, Derek Luebke and P.S. Krishnaprasad, “Experimental Study of Curvature-based Control Laws for Obstacle Avoidance,” in Proc. of 2004 IEEE International Conference on Robotics and Automation, 3849-3854, New Orleans, USA, April 26-May 1, 2004.   Preprint [bibtex]
The demos took place in University of Maryland, College Park. 
3d tracking formation tracking
The following movies demostrate generalization to 3D and formations of mobile robots.