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Multi-robot systems offer many advantages over a single robot system including redundancy, coverage and flexibility. One of the key technical challenges in fielding multi-robot systems for real-world applications is the coordination and relative motion control of the individual units. The cluster space control technique addresses the motion control challenge by providing formation control and promoting...
Computing a motion that enables a mobile manipulator to open a door is challenging because it requires tight coordination between the motions of the arm and the base. Hard-coding the motion, on the other hand, is infeasible since doors vary widely in their sizes and types, some doors are opened by pulling and others by pushing, and indoor spaces often contain obstacles that limit the freedom of the...
This paper addresses the problem of posture stabilization for a wheeled mobile robot with nonholonomic constraints. Due to the richness of mappings from sensor space to actuator signal space and the complexity of system and environment modeling, it becomes particularly difficult to select an appropriate control law for the posture stabilization problem. In this paper, we propose a novel approach based...
Mobile platforms when negotiating steps and stairs should be able to control theirs posture in order to avoid sudden tilting or falls. In particular, when considering applications for search and rescue operations where users have a very limited time of operation, the motion on stairs should be automated as much as possible. In this way operators can concentrate on their tasks (i.e. search of survivors...
This paper describes the design and implementation of a modular architecture for distributed motion control of mobile robots. The control system has an overall hierarchical structure, and parallel structure in its lower levels. The lower levels are composed of several autonomous modules; each module is equipped with a microprocessor-based controller, and has its own control functions with sensors,...
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