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In this paper we apply a policy improvement algorithm called Policy Improvement with Path Integrals (PI2) to generate goal-directed locomotion of a complex snake-like robot with screw-drive units. PI2 is numerically simple and has an ability to deal with high dimensional systems. Here, this approach is used to find proper locomotion control parameters, like joint angles and screw-drive velocities,...
This paper studies the tracking control of nonholonomic mobile robots with bounded velocities and accelerations. Two first-order filters driven by the tracking errors are developed to produce bounded and uniformly continuous feedback signals for the tracking controller. The feedback signals and their time derivatives are directly constrained by two filter parameters. A set of four inequality conditions...
This brief is concerned with the tracking control of differential-drive mobile robots with diamond-shaped input constraints. The strategy of designing time-varying feedback parameters for the tracking controller is used to cope with the challenge presented by input constraints. Sufficient conditions on the feedback parameters are proposed to guarantee the asymptotic stability of the tracking error...
In this paper, multi-vehicle formation control with collision avoidance based on model predictive control (MPC) is proposed. Since there exist the uncertainty arise from the localization in the real environments, it is difficult to guarantee collision avoidance among vehicles by the standard MPC based methods. Furthermore, since MPC based methods can only consider collision avoidance at discrete time...
In this paper, we present a navigation interface for multiple autonomous mobile robots. With existing interfaces of autonomous mobile robots, one operator can not conveniently control multiple robots simultaneously. To overcome this problem, we introduce a concept of grouping in our proposed interface. We develop an interface that offers convenient interaction with multiple robots. In the proposed...
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