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Recently, there has been growing interest in biomimetic underwater vehicles. To exploit the full workspace of this kind of vehicles, depth control is needed and plays a critical role. Although depth control for large vehicles such as submarines has been addressed, this issue for low-cost, small-scale underwater vehicles has not received attention. In this paper, the depth control of a small robotic...
A planning and control methodology for manipulating passive objects using orbital servicers in zero gravity has been developed by the authors. In this work, a parametric sensitivity analysis of the proposed model-based control for the motion of the passive object, in terms of parametric uncertainties, is presented. A linearization methodology is used to provide a scheme with which the controller robust...
This paper presents the theoretical framework for the centralized control architecture of the multi agent micro-robotic platform MiCRoN. The entire control system architecture integrates sensory modules, modeling modules, and control modules. The latter are composed by (i) a high level simulation and autonomous execution unit that is capable for on-line multi-robot navigation with collision avoidance,...
To date, quadruped speed control has either been achieved with two actuators per leg, or with single actuators and time consuming trial and error experimentation for controller tuning. In this paper, a novel control method is developed that uses only one actuator per leg and yet requires no controller tuning from the user, since the control parameters are computed through analytical expressions derived...
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