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This paper presents a synchronization control strategy for multirobot formation with time delays. Firstly, a synchronization error is defined with consideration of communication delays. Secondly, a decentralized synchronous trajectory tracking controller is developed. It is proven that this synchronous controller guarantees both position and synchronization errors to converge to zero. Finally, simulations...
A trajectory planning method for a mobile manipulator is proposed in this paper. The mobile manipulator studied here consists of a mobile platform and a redundant manipulator. Since the system has the redundant degree of freedom to perform some tasks, it will have infinite configurations to make the end-effector track the desired trajectory. The concept of AMSI and AMSIP which were used to optimize...
This paper presents a design of a high-level monitoring system for formation controls of swarms of mobile robots. With necessary information of each robot provided in the centralized high-level planner, the proposed monitoring system can evaluate the robots' working performance and check which robot malfunctions. The malfunction detector, developed with back-propagation neural networks technology,...
In this paper, we present a synchronization approach to trajectory tracking of multiple mobile robots while maintaining time-varying formations. The main idea is to control each robot to track its desired trajectory while synchronizing its motion with those of other robots to keep relative kinematics relationships, as required by the formation. First, we pose the formation-control problem as a synchronization...
This paper presents a synchronization control strategy for formation control of swarm of mobile robots. The formation control problem is successfully posed as a synchronization control problem, and the concept of synchronization error is created for measuring the formation control effect. A decentralized trajectory tracking controller is developed with feedback of both position and synchronization...
This article presents a synchronization control strategy, which can be applied to formation control of swarm of robots. A decentralized trajectory tracking controller is developed with feedback of both position and synchronization errors, formed with a combination of feedforward and feedback controls. It is proven that this tracking controller can asymptotically converge both position and synchronization...
This paper presents a synchronous control approach to swarms of mobile robots in switching between formations. According to the desired formation, a synchronization control goal is derived, based on which the position synchronization error is defined as differential position errors between very pair of two neighboring robots. A decentralized trajectory tracking controller is then developed with feedback...
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