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This paper proposes a control method for locomotion mode transformation of a mobile robot with wheel-arms. The proposed method aims at transformation from a four-wheeled mode for high-speed mobility to an inverted pendulum mode, which has advantages of high viewing position and small turning radius. Since the initial state of the system is far away from the target equilibrium point of the wheeled...
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...
Three underwater remotely operated vehicles (ROVs) were used over a five day period to inspect critical infrastructure and to assist with victim search and recovery at six sites in the Iwate Prefecture following the Tohoku Earthquake and Tsunami. Unmanned marine vehicles have been used since 2004 for disaster recovery operations but in limited applications, in single areas, and in short deployment...
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