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A distributed motion coordination strategy for multiple nonholonomic mobile robots in cooperative hunting operations

Hiroaki Yamaguchi
2003 Robotics and Autonomous Systems  
This paper presents a distributed smooth time-varying feedback control law for coordinating motions of multiple nonholonomic mobile robots of the Hilare-type to capture/enclose a target by making troop  ...  This motion coordination is a cooperative behavior for security against invaders in surveillance areas.  ...  Formation control for multiple mobile robots Sugihara and Suzuki [37, 38] have first examined a distributed motion coordination strategy to make group formations of multiple holonomic mobile robots that  ... 
doi:10.1016/s0921-8890(03)00037-x fatcat:353vidtfw5h33azi7hspcvi7ly

A distributed motion coordination strategy for multiple nonholonomic mobile robots in cooperative hunting operations

H. Yamaguchi
Proceedings of the 41st IEEE Conference on Decision and Control, 2002.  
This paper presents a distributed smooth time-varying feedback control law for coordinating motions of multiple nonholonomic mobile robots of the Hilare-type to capture/enclose a target by making troop  ...  This motion coordination is a cooperative behavior for security against invaders in surveillance areas.  ...  Formation control for multiple mobile robots Sugihara and Suzuki [37, 38] have first examined a distributed motion coordination strategy to make group formations of multiple holonomic mobile robots that  ... 
doi:10.1109/cdc.2002.1184310 fatcat:25v47jjt2jhslctyrnhdz5tzlm

Unmanned air/ground vehicles heterogeneous cooperative techniques: Current status and prospects

HaiBin Duan, SenQi Liu
2010 Science China Technological Sciences  
Multiple unmanned air/ground vehicles heterogeneous cooperation is a novel and challenging filed.  ...  This paper mainly focused on the key issues in multiple unmanned air/ground vehicles heterogeneous cooperation, including heterogeneous flocking, formation control, formation stability, network control  ...  [7] focused on the motion of a group of synchronized nonholonomic mobile agents by using local control laws, and the synchronization strategy was inspired by the early flocking model proposed in refs  ... 
doi:10.1007/s11431-010-0122-4 fatcat:dlpzfrtgd5cajdezvzzqmzdzlq

A Cooperative Hunting Behavior by Mobile-Robot Troops

Hiroaki Yamaguchi
1999 The international journal of robotics research  
This paper presents a novel feedback-control law for coordinating the motion of multiple holonomic mobile robots to capture/enclose a target by making troop formations.  ...  This motion coordination is a cooperative behavior for security against invaders in surveillance areas.  ...  To control a single robot or to coordinate cooperation of multiple mobile robots, there are mainly two types of control: model-based control and behavior-based control, which is the so-called reactive  ... 
doi:10.1177/02783649922066664 fatcat:xbmibvuzfvbnzharcrdrn67zoi

Leader-Follower Based Locally Rigid Formation Control

Krishna Raghuwaiya, Bibhya Sharma, Jito Vanualailai
2018 Journal of Advanced Transportation  
This paper addresses motion control of a cooperative intelligent transport system (C-ITS) of nonholonomic mobile robots navigating a dynamic environment while maintaining a locally rigid formation.  ...  The control scheme utilizes a new leader-follower strategy using Cartesian coordinates to accomplish a collision-free locally rigid formation of an autonomous and intelligent transportation system.  ...  In recent literature, a variety of control strategies have been proposed for formation or cooperative control of mobile robots and have been roughly categorized into virtual structure, behavior-based,  ... 
doi:10.1155/2018/5278565 fatcat:3xi25onafvapxa3awflqdwnfva

Bio-inspired intelligence with applications to robotics: a survey

Junfei Li, Zhe Xu, Danjie Zhu, Kevin Dong, Tao Yan, Zhu Zeng, Simon X. Yang
2021 Intelligence & Robotics  
A bio-inspired neural network framework, in which neurons are characterized by the neurodynamics models, is discussed for mobile robots, cleaning robots, and underwater robots.  ...  In addition, bio-inspired backstepping controllers for various robotic systems, which are able to eliminate the speed jump when a large initial tracking error occurs, are further discussed.  ...  Formation Control The bio-inspired neurodynamics trajectory tracking control for a single nonholonomic mobile robot can be extended to the formation control for multiple nonholonomic mobile robots, in  ... 
doi:10.20517/ir.2021.08 fatcat:zlctzg5sibhqdcieg3rfqhbgdq

Biologically Based Control of a Fleet of Unmanned Aerial Vehicles Facing Multiple Threats

Sami El-Ferik
2020 IEEE Access  
Each UAV is considered as a nonholonomic, nonlinear model moving in a two dimensional space. The system is composed of a fleet of UAVs, competing UAVs and a target.  ...  This paper addresses a set of multiagent, unmanned, aerial vehicles (UAVs) in a mission within a threat-prone environment.  ...  A summary of different distribution strategies and the best strategy to use for certain applications was provided in [34] .  ... 
doi:10.1109/access.2020.3000774 fatcat:gyob5mby3jebhkensu2qfdcr5u

A Survey on Techniques in the Circular Formation of Multi-Agent Systems

Hamida Litimein, Zhen-You Huang, Ameer Hamza
2021 Electronics  
Distributed control solutions to the multi-agent systems in terms of coordination, formation, and consensus problems are extensively studied in the literature.  ...  The circular formation control of multi-agent systems becomes one of the most challenging and active research topics in distributed cooperative control.  ...  A distributed control law for evenly spaced multiple mobile robots to achieve circular formation is proposed in [83] .  ... 
doi:10.3390/electronics10232959 fatcat:naxe6o6sovglrpoznsglkcjdwi

Collaboration and Task Planning of Turtle-Inspired Multiple Amphibious Spherical Robots

Zheng, Guo, Piao, Gu, An
2020 Micromachines  
This paper proposes an embedded architecture formation strategy for a group of turtle-inspired amphibious robots to maintain a long distance-parameterized path based on dynamic visual servoing.  ...  Finally, this paper also proposes a new method of control strategies in order to guarantee that each robot in the team moves together according to the preset target toward its location in the group formation  ...  mobility in robotics.  ... 
doi:10.3390/mi11010071 pmid:31936534 pmcid:PMC7019840 fatcat:tvtm3z3f7zegdbnunf6ilydg2i

Decentralized control of cooperative robotic vehicles: theory and application

J.T. Feddema, C. Lewis, D.A. Schoenwald
2002 IEEE Transactions on Robotics and Automation  
otherwise independent nontouching robotic vehicles so that they behave in a stable, coordinated fashion.  ...  A vector Liapunov method is used to prove stability of two examples: the controlled motion of multiple vehicles along a line and the controlled motion of multiple vehicles in formation.  ...  Hobart in building and maintaining the RATLER vehicles. They also appreciate the many thoughtful discussions on cooperative controls that R. Robinett has provided.  ... 
doi:10.1109/tra.2002.803466 fatcat:lzc6ub2tbrbp5b5k4ae4abiqwu

Research Advance in Swarm Robotics

Ying Tan, Zhong-yang Zheng
2013 Defence Technology  
Finally, as a main part of this paper, the current research on the swarm robotic algorithms are presented in detail, including cooperative control mechanisms in swarm robotics for flocking, navigating  ...  The swarm robotics inspired from nature is a combination of swarm intelligence and robotics, which shows a great potential in several aspects.  ...  Acknowledgment We would like to thank the National Natural Science Foundation of China under Grant (61375119, 61170057, 60875080) for the Support.  ... 
doi:10.1016/j.dt.2013.03.001 fatcat:eicue46mefeltoyo62fvm5hqdy

Trajectory Tracking Strategies with Singularities Avoidance for Groups of Unicycle-type Robots

J. González-Sierra, E. Aranda-Bricaire, E.G. Hernández-Martínez
2011 IFAC Proceedings Volumes  
This paper presents the design and analysis of three trajectory tracking control strategies for groups of unicycle-type robots using the leader-followers scheme.  ...  The leader converges asymptotically to a predefined trajectory path while the follower robots achieve a desired formation pattern at same time.  ...  A distributed motion coordination strategy for multiple nonholonomic mobile robots in cooperative hunting operations. Robotics and Autonomous Systems, 43, 257-282.  ... 
doi:10.3182/20110828-6-it-1002.01703 fatcat:kbqrkmvba5c77htto7y4tqaafu

Dynamic analysis of mobility and graspability of general manipulation systems

D. Prattichizzo, A. Bicchi
1998 IEEE Transactions on Robotics and Automation  
to frequently used concepts in robotics such as "redundancy," "graspability," "mobility," and "indeterminacy."  ...  The focus is in particular on simple industry-oriented devices, for which a minimalistic design approach requires a clear understanding of mobility and graspability properties in the presence of kinematic  ...  Salisbury, Massachusetts Institute of Technology, Cambridge, and A. Balestrino and G. Casalino, University of Pisa, Pisa, Italy, for their often inspiring views, discussions, and comments.  ... 
doi:10.1109/70.681243 fatcat:5dazp6zm5vab3kajkgk7dd7xpq

A Comprehensive Review of Coverage Path Planning in Robotics Using Classical and Heuristic Algorithms

Chee Sheng Tan, Rosmiwati Mohd-Mokhtar, Mohd Rizal Arshad
2021 IEEE Access  
and accuracy, putting a great constraint on the usability of the robot applications in various planning strategies in specific environmental conditions.  ...  The small battery capacities of the mobile robot and the un-optimized planning efficiency of the industrial robot bottlenecked the time efficiency and productivity rate of coverage tasks in terms of speed  ...  A Voronoi partition approach is a common modeling technique that is applied in the distributed coordination for a multi-robot system [309] .  ... 
doi:10.1109/access.2021.3108177 fatcat:ddkiiuc2znfwhc6z3xqbk5oo7y

Recent advances in mechatronics

Okyay Kaynak
1996 Robotics and Autonomous Systems  
The publisher makes no representation, express or implied, with regard to the accuracy of the information contained in this book and cannot accept any legal responsibility or liability for any errors or  ...  Typesetting: Camera-ready by Contributors SPIN 10717447 543210 (Robotics Society of Japan) and SICE (Society of Instr. and Control Engineers of Japan).  ...  The work was supported in part by the Asahi Glass Foundation, and by the Ministry of Education, Science and Culture under Grant-in-Aid for Developmental Scientific Research.  ... 
doi:10.1016/s0921-8890(96)00039-5 fatcat:l5fd4hwa2rbu3l6f2jucyj2fxy
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