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This paper presents a modular design scheme for miniature underwater robot used for swarm operations. Both the hardware circuit and the software structure are introduced. In this design, miniature underwater robots are composed of two kinds of modules, namely a core controller and a set of functional modules. The core controller is in charge of running the software that control the robot, while a...
Due to limited sensing and communication capabilities, a team of robots must maintain connectivity for information exchange while performing group tasks. Maintaining connectivity of networked robots is always a challenge in multirobot cooperation. In this paper, we develop a novel controller to guarantee multirobots with limited communication capabilities to approach their individual goal positions...
This paper presents a motion-planning approach for coordinating multiple mobile robots in moving along specified paths. The robots are required to fulfill formation requirements while meeting velocity/acceleration constraints and avoiding collisions. Coordination is achieved by planning robot velocities along the paths through a velocity-optimization process. An objective function for minimizing formation...
This paper presents a motion planning approach to coordinating multiple mobile robots in moving along specified paths. The robots are required to fulfill formation requirements while meeting velocity/acceleration constraints and avoiding collisions. Coordination is achieved by planning robot velocities along the paths through a velocity optimization process. An objective function for minimizing formation...
This paper presents an approach to coordinating a group of mobile robots that move along the designed paths. Subject to the constraints of velocity/acceleration bounds and collision avoidance, the robots are required to maintain the formation relationship while moving. The coordination is realized by posing the coordination problem as a velocity optimization problem in motion planning and then properly...
This paper presents a motion planning approach to coordinating multiple mobile robots in moving along the designed paths. The robots are required to fulfill the formation requirement during the motions subject to the constraints of velocity/acceleration bounds and mutual collision avoidance. The coordination is achieved by properly planning robots' velocities along the paths, which is modeled as a...
This paper presents a new approach to formation forming of multiple mobile robots with decentralized motion planning. When the robots enter the required formation, there exists the formation-structure constraint, which causes disorder or even deadlock of the formation. A dynamic priority strategy is developed to solve the problem of the formation-structure constraint, and coordinate the robots to...
This paper presents a decentralized motion planning methodology for multiple mobile robots. A novel three-step local-constraint-path planner (LCPP) is proposed to perform path planning for each robot while considering kinematic constraint and online implement efficiency. A priority-based strategy is employed in the planning to avoid mutual collisions amongst the robots. Simulations are performed on...
The trajectory-tracking problem of the nonholonomic mobile robots with two drivable wheels is solved by an adaptive fuzzy control strategy in this paper. A kinematic controller is firstly presented for the kinematic model, and then, an adaptive fuzzy controller is designed for the uncertain dynamic model with disturbance based on the kinematic controller. The stability of the closed-loop system and...
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