The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper presents a navigation technique for a group of quadrotors based on artificial harmonic potential fields in which the leader is considered as a point charge. This is a reactive technique, which is generating the path while the group is moving. To achieve obstacle avoidance the problem is divided in two parts; path generation and path tracking problems. The path generation is based on potential...
The design of a decentralized discrete-time block control scheme, for a multi-agent system with a fixed topology, to achieve formation and trajectory tracking is proposed in this work. Each agent dynamics is represented either by a first-order or second-order discrete-time system, only the position of each agent's neighbors is measured and their velocity and acceleration are unknown, and exclusively...
Current Unmanned Vehicle (UV) navigation systems are capable of autonomous navigation among disperse obstacles. However, these systems may fail to guide vehicles through highly confined environments because they do not explicitly consider the geometry of the vehicle in the navigation task. This paper presents a methodology that enables the navigation of Unmanned Vehicles (UVs) in such 3D environments...
In this paper, a decentralized control scheme for group formation and trajectory tracking of multi-agent systems is designed. In this scheme, each agent dynamics is represented by a single-input single-output linear systemand the information that each controller requires is only the output of the others agents. With the proposed decentralized control law, multiagent system tracks asymptotically the...
In a previous work, the authors have shown how the Principal Components Analysis (PCA) of a set of human walking paths provides sufficient information to derive a linear human-like path generator based on examples. The present work aims to provide an analysis of human walking paths from the perspective of multilinear algebra, using the n-mode Singular Value Decomposition (SVD). This decomposition...
Mecanum wheels give vehicles and robots autonomous omni-directional capabilities, while regular wheels don't. The omni-directionality that such wheels provide makes the vehicle extremely maneuverable, which could be very helpful in different indoor and outdoor applications. However, current Mecanum wheel designs can only operate on flat hard surfaces, and perform very poorly on rough terrains. This...
This work, presents the design of a Joint State-Mode observer for SLS, where the state of both parts, continuous and discrete, are observed The continuous part is represented by a family of linear systems (LS) and the discrete part is represented by an interpreted Petri net (IPN), enlarging the class of systems that can be represented and adding structural information to the system. The design of...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.