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The following topics are dealt with: nonlinear systems; learning systems, neural networks; fuzzy system; fuzzy control; sliding mode control; control system; adaptive control; data mining; software architecture; wireless sensor networks; e-learning; protocols; image processing; video processing; MIMO systems; robotics; wind generators; mobile devices; mobile robots; XML; power supply; energy consumption;...
Navigation in unknown dynamic environments still remains a major challenge in robotics. Whereas insects like the desert ant with very limited computing and memory capacities solve this task with great efficiency. Thus, the understanding of the underlying neural mechanisms of insect navigation can inform us on how to build simpler yet robust autonomous robots. Based on recent developments in insect...
This paper focuses on developing a control method for a robotic single-master multi-slave (SMMS) system to cooperatively control mobile agents for multi-weapon multi-target pairing (WTP). Major components of the developed control method are potential field based leader-follower formation, compensation for operator-induced errors, and weapon-target pairings (WTP). A SMMS system has two subsystems,...
The proposal of this paper is demonstrating the simplicity to develop a real control position action over a platform on mobile vehicle using two different discrete controllers. The mechanical structure is depicted and the range of work operation. The characterization is based on an accelerometer in the X axis. The mathematical analysis of these controllers, classic control discrete PID and the second...
The inverted pendulum problem is well-known as a good application for control engineering. An autonomous robot can use the principle of the inverted pendulum for its design. A two-wheeled robot has both static and dynamic design considerations when using the inverted pendulum principle. This paper investigates the effect of varying mass characteristics on the step response of a self-balancing materials...
This paper describes a new active ball handling method for the RoboCup mid-size league as used by team Tech United at Eindhoven University of Technology. A theoretical model is derived followed by the control design including a feedback controller and a feedforward controller. The proposed control design is validated with the Tech United soccer robots. The results of several tests show the effectiveness...
This paper presents a planned navigation control architecture of a self-balancing two-wheeled platform for autonomous service robots. Based on the linearized mathematical modeling incorporating the frictions between the wheels and the motion surface, a kinematical trajectory tracker and two adaptive controllers are designed to track speed and yaw rate commands. A human-aware trajectory generator is...
Sensor-based construction of different geometric structures has been an important development in the domain of autonomous robot navigation. This paper presents a hardware-efficient scheme to construct one such geometric structure, namely, the generalized Voronoi diagram (GVD), using a prediction-and- correction strategy. In this paper, an architecture to construct the GVD for an indoor environment...
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