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Distributed control for uniform circumnavigation of ring-coupled unicycles
2015
Automatica
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A systematic procedure is developed to design the control parameters according to the specific radii of the orbits and the formations that the agents are desired to converge to. ...
The paper studies the general circumnavigation problem for a team of unicycle-type agents, with the goal of achieving specific circular formations and circling on different orbits centered at a target ...
CityU11211714) and the National Natural Science Foundation of China under Grant 61273113 and Grant 61134001. ...
doi:10.1016/j.automatica.2014.11.012
fatcat:q7335xjfabddviftju62jew7hi
Vehicle Platoons Through Ring Coupling
2008
IEEE Transactions on Automatic Control
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The concept of string stability of a platoon is discussed and applied to the ring interconnection. ...
The vehicles are coupled in a unidirectional ring at the interaction level: each vehicle is influenced by the position of its immediate forward neighbor; the first vehicle in the platoon is influenced ...
ACKNOWLEDGMENT The authors would like to thank the anonymous referees for their useful comments and questions. ...
doi:10.1109/tac.2008.925812
fatcat:ia7ezwbyrfgyzmf2yowf6qdmkm
WMR control via dynamic feedback linearization: design, implementation, and experimental validation
2002
IEEE Transactions on Control Systems Technology
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With reference to the popular unicycle kinematics, it is shown that dynamic feedback linearization is an efficient design tool leading to a solution simultaneously valid for both trajectory tracking and ...
To assess the quality of the proposed controller, we compare its performance with that of several existing control techniques in a number of experiments. ...
Time-varying controllers, both smooth and nonsmooth, exhibit a rather slow convergence to the goal. ...
doi:10.1109/tcst.2002.804116
fatcat:wi57c2eyszglrotrrubp7fi55q
2019 Index IEEE Transactions on Automatic Control Vol. 64
2019
IEEE Transactions on Automatic Control
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., +, TAC April 2019 1456-1471 Modeling and Control of Wave Propagation in a Ring With Applications to Power Grids. ...
., +, TAC June 2019 2210-2223 Modeling and Control of Wave Propagation in a Ring With Applications to Power Grids. ...
doi:10.1109/tac.2020.2967132
fatcat:o2hd2t4jz5fbpkcemjt5aj7xrm
Decentralized Goal Assignment and Safe Trajectory Generation in Multi-Robot Networks via Multiple Lyapunov Functions
[article]
2019
arXiv
pre-print
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The proposed switching strategies give rise to feedback control policies that are computationally efficient and scalable with the number of agents, and therefore suitable for applications including first-response ...
An additional family of Lyapunov-like barrier functions is activated in the case when the optimal assignment may lead to colliding trajectories, maintaining thus system safety while preserving the convergence ...
INTRODUCTION Task (target) assignment problems in multi-agent systems have received great interest within the robotics and controls communities in the past couple of years, in part because they encode ...
arXiv:1402.3735v3
fatcat:74nu24deprbn3lr4yvfxzkahb4
Can we make sense out of "Tensor Field Theory"?
2021
SciPost Physics Core
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We make a first step towards its construction by establishing its power counting, identifying the divergent graphs and performing a careful study of (a slight modification of) its RG flow. ...
We continue the constructive program about tensor field theory through the next natural model, namely the rank five tensor theory with quartic melonic interactions and propagator inverse of the Laplacian ...
Dang for many interesting and useful discussions and for advising him to contact F. Loray. It is a pleasure for us to warmly thank F. ...
doi:10.21468/scipostphyscore.4.4.029
fatcat:a4lcbmv63rchllusuvfiwquuwi
Can we make sense out of "Tensor Field Theory"?
[article]
2021
arXiv
pre-print
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We continue the constructive program about tensor field theory through the next natural model, namely the rank five tensor theory with quartic melonic interactions and propagator inverse of the Laplacian ...
We make a first step towards its construction by establishing its power counting, identifiying the divergent graphs and performing a careful study of (a slight modification of) its RG flow. ...
R. deeply thanks his coauthor, and all those who encourage him, at a critical moment, to resume his scientific activity. ...
arXiv:2101.04970v2
fatcat:dl7sxbaa7fe37ejucv6rdiv574
[IEEE Robotics & Automation Society]
2012
IEEE robotics & automation magazine
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framework for addressing circular formation control protocols for dynamic unicycles using stabilization of sets. ...
The stage includes a single moving part levitated and controlled with 6 degrees of freedom by 6 couples of reluctance electromagnetic actuators. ...
doi:10.1109/mra.2012.2229854
fatcat:rjrxtwk4jbcgjpvjdad6mougsq
IEEE Robotics & Automation Society
2012
IEEE robotics & automation magazine
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framework for addressing circular formation control protocols for dynamic unicycles using stabilization of sets. ...
The stage includes a single moving part levitated and controlled with 6 degrees of freedom by 6 couples of reluctance electromagnetic actuators. ...
doi:10.1109/mra.2012.2230568
fatcat:33actbknxrel3jnag2kx7cncem
IEEE Robotics & Automation Society
2011
IEEE robotics & automation magazine
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framework for addressing circular formation control protocols for dynamic unicycles using stabilization of sets. ...
The stage includes a single moving part levitated and controlled with 6 degrees of freedom by 6 couples of reluctance electromagnetic actuators. ...
doi:10.1109/mra.2011.941112
fatcat:owvu2behc5hulpcae2dp5myigm
IEEE Robotics & Automation Society
2011
IEEE robotics & automation magazine
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framework for addressing circular formation control protocols for dynamic unicycles using stabilization of sets. ...
The stage includes a single moving part levitated and controlled with 6 degrees of freedom by 6 couples of reluctance electromagnetic actuators. ...
doi:10.1109/mra.2011.943480
fatcat:d2wvloyv6jcbzp2yathd52mx2u
Bodies, Temporality and Spatiality in Australian Contemporary Circus
2018
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as sub-genres, styles, companies, training and sustainability; and its ability to renew and extend itself through continual processes of deterritorialisation and reterritorialisation. ...
, risk and trust in performance. ...
Rather, it is generated by the work (often as "context"), and then verified by its convergence with an existing discursive formation. ...
doi:10.25904/1912/1522
fatcat:ai5yzwxkzrcypcs6rbwqdn3fyu
Speaking in tongues : music, identity, and representation in jew's harp communities
2017
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However, I did not see boundedness as contradictory to multi-sitedness, but, rather, as complementary and necessary. ...
He is the only person to play a jew's harp while riding a unicycle, and this won him a "virtuoso" medal at the congress in Yakutsk. ...
doi:10.25501/soas.00024902
fatcat:k2how5yttzdiplqwerrq5qa37i