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Distributed control for uniform circumnavigation of ring-coupled unicycles

Ronghao Zheng, Zhiyun Lin, Minyue Fu, Dong Sun
2015 Automatica  
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

Jonathan A. Rogge, Dirk Aeyels
2008 IEEE Transactions on Automatic Control  
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

G. Oriolo, A. De Luca, M. Vendittelli
2002 IEEE Transactions on Control Systems Technology  
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  
., +, 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]

Dimitra Panagou, Matthew Turpin, Vijay Kumar
2019 arXiv   pre-print
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"?

Vincent Rivasseau, Fabien Vignes-Tourneret
2021 SciPost Physics Core  
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]

Vincent Rivasseau, Fabien Vignes-Tourneret
2021 arXiv   pre-print
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  
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  
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  
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  
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

Kristy Danialle Seymour, University, My, Patricia Wise
2018
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

Deirdre Anne Morgan
2017
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