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In multi-robot systems, it is commonly used collaborative approaches to solve complex tasks faster and efficiently. In most of those approaches, the decisions are made centralized or require global information about the objective or the robots, limiting many real implementations. The present work is based on a decentralized solution for the Rendezvous problem, by using only local information about...
The insertion of the communication network in feedback control loop makes the analysis and design of wireless networked control systems (WNCS) more complex, induces challenges in the form of: delays and packet losses, that degrade the control system's performance and even cause instability. From the viewpoint of application, the main challenge found in wireless networked control system (WNCS) is the...
This article examines a strategy to establish are liable underwater acoustic communication for navigation of autonomous underwater vehicles (AUVs). This work proposes a framework through the use of kernel function based models to make the task of locating AUVs less sensitive to channel fluctuations. For this, the Auto-Associative Kernel Regression(AAKR) and the Support Vector Data Description (SVDD)...
The manipulation in singular regions promotes an instantaneous reduction in mechanism mobility, which can result in some disturbances in the trajectory tracking. In proximity to the singularities, small velocities of the end-effectors generate high speeds in the joints due to the gradual reduction of the mobility. The phenomenon of kinematic singularity promotes a instantaneous instability in torque...
The goal of this course is to present the topic of mobile robotics, including the design difficulties and challenges. Participants will be presented to the main design tools currently adopted. The topics to be addressed are: terrestrial mobile robots, unmanned aerial vehicles, submarine vehicles, architectures, movement control techniques, behavior and perception, applications, navigation and location...
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