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In this paper, a method for actuator fault estimation is proposed for a robot for inspecting power transmission lines. A robust H∞ observer is designed to deal with the modeling error caused by a measured inclination angle. The observer gain is obtained by solving a linear matrix inequality. The convergence and existence of the H∞ observer are analyzed. Using the proposed method, the constant actuator...
The developments in mobile robotics have increasingly played an important role in the inspection and maintenance work of Power Transmission Lines (PTLs). This paper presents the research and development of the inspection robots for 500kV PTLs in Shenyang Institute of Automation, Chinese Academy of Sciences (SIACAS). An overview of the research work and the development of an inspection robot AApe-B,...
Online evaluation of battery state of function (SOF) is crucial for battery management systems of autonomous mobile robots. Battery State of Charge (SOC) represents its remaining energy available, whereas internal resistance and capacity reflect its state of health (SOH). In this paper, an improved equivalent circuit model is proposed to estimate SOC, internal resistance and capacity using an unscented...
Target detecting and dynamic coverage are fundamental tasks in mobile robotics and represent two important features of mobile robots: mobility and perceptivity. This paper establishes the constrained motion model and sensor model of a mobile robot to represent these two features and defines the k -step reachable region to describe the states that the robot may reach. We show that the calculation of...
In this paper, we describe a resort vehicle with the capability of automated driving and maneuvers in a restricted zones such as parks, exhibitions, and resorts. This work was motivated by the event of 2010 World Expo to be held in Shanghai, China. The development of an unmanned vehicle is a complex process. Therefore, the focus of this paper is on the perception, planning and control. We will discuss...
This paper first describes key conceptions about object oriented analysis in software engineering, behavior based robotics and their conceptual similarities. Then, based on these similarities, the paper utilizes object oriented methods of software engineering, such as Unified Modeling Language (UML), to analyze and model the architecture and design behaviors for a behavior-based robot, which is expected...
The objective of self-healing in mobile robot networks is to maintain not only logical topology but also physical one of a network when robots fail. An interaction dynamics model is first established to describe both logical and physical topologies of the network. Considering the mobility of mobile robot networks, we propose a recursive, distributed topology control for self-healing when mobile robots...
Motion synchronization in mobile robot networks is a fundamental task in distributed multi-robot collaboration. In this paper, we investigate the robustness of synchronous speeds against robot and communication failures, an important feature of distributed systems. A performance metric is proposed to represent the robustness of the robot teams based on complex networks theories. Moreover, a distributed...
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