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.
Our aim is to explore the fundamental stability issues of a robotic vehicle carrying out localization, mapping, and feedback control in a perturbation-filled environment. Motivated by the application of an ocean vehicle performing an autonomous ship hull inspection, our planar vehicle model performs localization using point features from a given map. Cases in which the agent must update the map are...
The development of safe and dependable robots for physical human-robot interaction requires both the mechanical design of lightweight and compliant manipulators and the definition of motion control laws that allow compliant behavior in reaction to possible collisions, while preserving accuracy and performance during the motion in the free space. For these motivations, great attention has been posed...
Improvement over classical dynamic feedback linearization for a unicycle mobile robots is proposed. Compared to classical extension, the technique uses a higher-dimensional state extension, which allows rejecting a constant disturbance on the robot rotational axis. The proposed dynamic extension acts as a velocity scheduler that specifies, at each time instant, the ideal translational velocity that...
A novel control strategy based on passivity theory was proposed with special attention to trajectory tracking and robust control of rigid robot. In this paper, robot model was divided into nominal model and uncertainty part. Based on the backstepping approach, feedback passivity was used to design controller for the nominal model. A variable structure concentrated compensation controller was adopted...
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.