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We applied partial feedback linearization to the unicycle model to stabilize part of the state at a desired position on the plane and extend it to design formation control for teleoperation. Further, using output synchronization results we derive a Single Master Multiple Slave bilateral teleoperation system robust to constant unknown, possible different time delays between master and formation and...
This paper addresses passivity-based motion coordination of rigid bodies in the special Euclidean group SE(3) under the assumption that the agents exchange information over strongly connected graphs. In this paper, we especially focus on one of the motion coordination problems on SE(3) called attitude synchronization. We first develop a passivity-based distributed velocity input law to achieve attitude...
The current interest in coordinating nonlinear dynamical systems with safety guarantees is driven by emerging practical applications. One of the primary objectives in coordination of multiple mechanical systems (agents) is velocity synchronization with guarantees for collision avoidance among the agents. However, previous results in this direction assume point models for the agent, allow only linear...
In this paper we address the problem of dynamic coverage control of a convex polygonal region in the plane using N agents with bounded velocities and finite instantaneous area of coverage. The proposed coverage algorithm guarantees finite- time search of the region, does not depend on gradient-based methods, and can be carried out by the agents in a distributed fashion. We provide an upper bound on...
We consider bilateral teleoperation of a wheeled mobile robot over communication channels with constant delays. Our main objective is to enable humans to control the mobile robot much as they drive a car: i.e. by operating a master haptic joystick, they can control the linear velocity and heading angle of the mobile robot, much like they do so with the gas pedal and steering wheel. Passivity of the...
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