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The connectivity of the autonomous mobile robots is considered in this paper. The group navigation is provided using simple local steering rules and without any explicit communication. Sub-optimal solutions are invoked to avoid computational cost. We show that the connectivity of the group is preserved during the whole motion, in spite of bounded measurement errors on angles and distances. Some special...
This study proposes a novel graphical method (LIZIVD) as an effective solution to link areas on a raster map to a database containing zone characteristics data. The method involves Inverse Voronoi approach which constructs polygonal mesh structure to define each region individually by using Voronoi points. This approach, when combined with Geographic Information Systems (GIS) particularly using satellite...
The navigation of autonomous mobile robots as a group is considered in this paper. Definitions adopted from the graph theory are given to characterize the robot group. A local steering strategy is proposed such that when each robot in the group applies this steering scheme, the overall result is that the whole group is displaced without losing its connectivity. This is achieved using only limited-range...
Adaptive control of nonlinear systems with parametric uncertainties is considered. A novel approach is presented which makes use of multiple identification models and switching based on direct adaptive control scheme. The use of multiple fixed models and switching provides better transient response under sudden changes in the parameter values. The parameter estimates are reset to the fixed values...
Indirect adaptive control of control-affine nonlinear systems is considered in this study. A new methodology is proposed, which makes use of multiple identification models. Switching criterion between the models and enhancement of the transient response with the use of multiple models are discussed. The study is verified by simulation of a nonlinear system
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