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This paper proposes a navigation algorithm that considers the states of humans and other robots in order to achieve harmonious coexistence between robots and humans. When navigating through humans and robots with different functions, a robot should not only pay attention to obstacle avoidance and goal seeking, it should also take care of whether it interferes with other people or robots. To deal with...
This paper proposes a constructive control approach, dynamic state feedback formation control, for achieving the realization of the Multi-Robot Formation System (MRFS) with respect to the problem of dilation of a formation shape and stabilization issue in nonholonomic system simultaneously. Combining with theoretical analysis, the proposed control approach has been successfully to deal with the following...
This paper proposes a distributed reconfigurable robot composed of magnetic driven modules to drive the robot by electromagnets only. An overview of the proposed module is presented in this paper which includes the design concept, an overview of the mechanical and electrical systems, magnetic force dissection, system modeling, and reconfiguration examples. The reconfigurable robot is realized with...
A general control framework for a formation system composed of a team of nonholonomic wheeled mobile robots (WMRs) considering the formation dynamics under static connection structure but subject to dynamic connection stability is proposed in this paper. Hence, a rigorous formation theory is obtained essentially based on the differential structure of the formation system. With this result, a case...
This paper discusses the experimental testing on the actuation design and motion of one type of novel self-reconfigurable modular robot. The shape of the modular robot is octagonal and hence it is named as Octabot. Each module is equipped with one micro-controller and eight actuators. One each side of the modular robot, the actuator is driven by one set of electromagnet for both moving the module...
This paper addresses the problem of distributed motion control of highly structured formations of nonholonomic multi-agent robotic systems. For concentrating on the multi-agent formation problem, a local stable feedback control laws based on relative distance and angular and bearing measurements are used. There are topological obstructions to globally stable system operation for such laws, but by...
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