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This paper presents a decentralized learning technique that enables two pursuers or more to capture a single evader in the pursuit-evasion (PE) differential games. Both the pursuers and the evader should learn their control strategies simultaneously by interacting with each other. The proposed learning technique uses a fuzzy actor-critic learning automaton (FACLA) algorithm together with the Kalman...
Using ‘Simultaneous Localization and Mapping’ (SLAM), mobile robots can become truly autonomous in the exploration of their environment. However, once these environments becomes too large, Multi-Robot SLAM becomes a requirement. This paper will outline how a mobile robot should decide when best to merge its maps with another robot's upon rendezvous, as opposed to doing so immediately. This decision...
In this paper we present a formulation of a swarm algorithm for some predefined formations and we show that using the control laws derived, the whole system is stable. Furthermore, the algorithm for the formation is implemented in microcontrollers, which effectively makes the experiment a system of systems. The only input for the algorithm is the position of the robot and the relative positions of...
This paper outlines a method of choosing a model structure which can describe the dynamics of a manipulator. The model structure is based on a "Black Box" approach, therefore the model does not attempt to determine physical parameters such as moments of inertia or link masses. The model structure is used to estimate parameters which best fit the selected model structure to the observed input/output...
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