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Based on the system which exists both delay and packet dropout not only in the forward path but also in the feedback path, the tracking problem of a wheeled mobile robot is presented, and the mathematic description is given. Then, a algorithm that combines a stochastic optimal control scheme with predictive control is proposed in this paper. The algorithm consists of two parts: the stochastic optimal...
Reconfigurable robotic systems are made from a large number of independent modules that can be used to form various robot shapes. Consequently the robots have the capabilities to optimize their configurations to suit different tasks and environments. This reconfigurability needs not only appropriate module structures, but also corresponding communication and control systems to coordinate the modulespsila...
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