Inverse Kinematic GVF provides a simple way to construct control algorithm for path following.

Homogeneity is a form of dilation symmetry. 

The figure on the left is a map about key concepts and properties about homogeneous system. 

In this research, we use implicit homogeneous functions to design a homogeneous tracking control for a unicycle mobile robot with slippage. The results show that the homogeneous control can achieve reduced overshooting and improved robustness simultaneously.