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This work addresses a coordinate control scheme for a helicopter and a formation of ground robots, based on artificial vision. First, a control scheme previously proposed is implemented to guide a formation of three ground mobile robots while they track a desired trajectory. In the sequel, a nonlinear controller based on the inverse dynamics of the aerial vehicle, focusing on its under actuated character,...
Current real-time applications should timely deliver synchronized data-sets, minimize latency in their response and meet their performance specifications in the presence of disturbances and faults. The adaptive features of the designed controller are present at the lower control level using specific artificial intelligence techniques. Fuzzy inference system design is the fundamental element to generate...
Typical industrial assembly tasks require an accuracy that cannot be realized by only feedback control if a minimum speed is given by a conveyor. Feed-forward has proven to be advantageous, using predictions of the desired trajectory which will be computed from sensor values. These predictions are improved by a model based classification of the sensor data to typical scenarios. In contrast to linear...
This paper presents a motion control algorithm for a multiple mobile autonomous agents using the concept of a rigid and persistent formation with a Leader-Follower structure. Initially, a triangular formation was started for three agents and subsequently Henneberg Sequence [Tolga, et al; 2005] is applied to extend for multi-agent system. A decentralized control for each agent considering the shortest...
This paper presents a novel robust framework for online walking control that uses the estimated actual posture of a robot for frequent pattern generation. The motion status in the absolute coordinate system is estimated by using an attitude sensor, and the estimated status is used as the initial condition of the next online pattern generation, so that the walking pattern generator can effectively...
This paper presents an experimental overview of common trajectory tracking methods for nonholonomic mobile robots: linear control, nonlinear control and model predictive control. All methods are compared experimentally on a two-wheel mobile robot with differential drive. The goal was to determine which control method is the best with respect to robustness and low trajectory tracking error. Thereby,...
This article presents a design of a four-wheeled omnidirectional mobile robot for RoboCup middle size league. The mobile robot was built for the 5dpo-2000 robotic soccer team from the Department of Electrical and Computer Engineering at the University of Porto, Portugal. The robot's architecture and communication structure are presented. A nonlinear modeling and a motion analysis based on the dynamics,...
This paper introduces two new important issues to be considered in the design of the zero moment point (ZMP) trajectory reference for the sagittal plane balance control of an autonomous walking biped robot with an human-like gait. ZMP trajectory reference generation is very important in the design and balance control of the walking of a biped robot. ZMP reference generation algorithms based on the...
This paper addresses a three-dimensional biped dynamic walking control based on Passive Dynamic Autonomous Control (PDAC). In our previous work, the robot dynamics is modeled as a two-dimensional autonomous system of a three-dimensional inverted pendulum by applying the PDAC concept. In addition, the convergence algorithm based on conservative quantities named ??PDAC constant?? was proposed, so that...
Variable stiffness actuation (VSA) devices are being used to jointly address the issues of safety and performance in physical human-robot interaction. With reference to the VSA-II prototype, we present a feedback linearization approach that allows the simultaneous decoupling and accurate tracking of motion and stiffness reference profiles. The operative condition that avoids control singularities...
In this paper, we describe a miniature flight platform weighing less than 700 grams and capable of way-point navigation, trajectory tracking, precise hovering and automatic takeoff and landing. In an effort to make advanced autonomous behaviors available to mini and micro rotorcraft, a lightweight/portable and inexpensive Guidance, Navigation, and Control system (GN&C) was developed. To compensate...
This paper studies an active steering problem of unmanned ground vehicles (UGVs) when avoiding obstacles during sensor based navigation in unknown environments. The overall problem is treated using the nonlinear model predictive framework, in which the sensor information of a limited sensing range is incorporated online. Results show that the introduction of the modified parallax effectively reflects...
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