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This paper presents a design of planar snake robot which consists of bottom-wheeled modular parts chained with servo actuator joints. Serpentine curve locomotion is recognized as the most efficient gait for snake robots control in terms of motor torques and friction forces. However, the traditional serpentine control model is based on fixed parameters. There is a slipping problem when snake robots...
This paper investigates fault-tolerant cooperative control (FTCC) strategy for a team of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) in the presence of actuator faults. When actuator faults occur in one or more of the UGVs, two cases are considered: 1) the faulty UGV cannot complete its assigned task due to a severe fault occurrence, it has to get out from the formation mission...
Formation control of multiple groups of agents finds application in large area navigation by generating different geometric patterns and shapes, and also in carrying large objects. In this paper, Centroid Based Transformation (CBT) [36], [37], has been applied to decompose the combined dynamics of wheeled mobile robots (WMRs) into three subsystems: intra and inter group shape dynamics, and the dynamics...
In this paper, we review state-of-the-art research into automated construction by autonomous mobile robots. Today, space research agencies seek to build infrastructure without human intervention; and construction companies look to robots as having the potential to achieve improvements in construction quality, efficiency, and safety, not to mention flexibility in architectural design. This paper addresses...
The unique mobility characteristics that make novel robotic platforms potential assets to the search and rescue community can also, unfortunately, provide obstacles in transitioning them from use in the lab to effective use in the field. For example, snake-like robots have small-cross sectional areas that enable them to weave through extremely tightly-packed volumes, e.g., collapsed buildings. Unfortunately,...
In this paper, we propose a relative-position estimation method using range measurements. The estimation method is used for mobile agents to obtain the estimates of relative position vectors to their neighbors. Using the estimates, the agents can implement displacement-based control to achieve the desired formation shape. To demonstrate our results, we provide simulation results and experimental results...
This paper presents two approaches to externally influence a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. Recently developed continuous-time algorithms move the robots so as to provide optimal coverage of a given the time-varying density functions. This makes it possible for a human operator to...
In this paper, we introduce the application of Japanese origami art to the floating system of unmanned helicopter model for the case of emergency landing. The “origami floating system” is integrated compactly in the helicopter and expands by an electronic controlled system when the helicopter lands on water. We tested our proposed floating system using three types helicopters, with the origami made...
Formation control of multiple groups of agents finds application in generating different geometric patterns and shapes for wide area navigation, and also in locking known static or moving objects. Our previous work [30] entails defining a topology to capture the constraint relationship among multiple groups of robots by means of Centroid Based Transformation (CBT). The calculation of centroid requires...
A fault tolerant cooperative control (FTCC) strategy for a team of an unmanned aerial vehicle (UAV) and unmanned ground vehicles (UGVs) in the presence of actuator faults are investigated in this paper. A combination of a linear model predictive control (MPC) and input-output feedback linearization is implemented on each UGV, while a combination of a sliding mode control and linear quadratic regulator...
After a terrible disaster such as an earthquake or a nuclear accident, finding victims and isolating them from hazards are usually the first priorities for rescuers. As the security of rescuers and the stabilization of the environment are critical components of the first rescue phase, we assume that robots could be used to secure the environment by performing construction tasks, to stabilize large...
This paper considers a kinematic model that captures the speed and heading angle of a modular snake robot performing side-winding gaits. Modular snake robot locomotion is controlled in joint space. Consequently, the motion is achieved by continuous changes of the robot's body shape. In light of this behavior, this work describes a method to determine the position and orientation of a floating frame...
The complete coverage problem requires the full exploration of the entire area, with real-world applications like floor cleaning, lawn mowing, search and rescue, etc. These tasks often do not have the exact a priori knowledge of the target area (e.g., exact shape of the lawn or oil spill area). Thus it is essential that the autonomous vehicle uses on-board sensor feedbacks for exploration so as to:...
Drawing inspiration from flight behavior in biological settings (e.g. territorial battles in dragonflies, and flocking in starlings), this paper demonstrates two strategies for coverage and flocking. Using earlier theoretical studies on mutual motion camouflage, an appropriate steering control law for area coverage has been implemented in a laboratory test-bed equipped with wheeled mobile robots and...
Social insects have evolved to self-assemble ad-hoc structures from their bodies to quickly adapt to unexpected obstacles and situations. Inspired by these natural systems, we present an autonomous tread-based robot which is capable of using its own body as a building block for assembling structures. We analytically assess the optimality of the robot design, and experimentally test its ability to...
This paper introduces the Affordance Template ROS package for quickly programming, adjusting, and executing robot applications in the ROS RViz environment. This package extends the capabilities of RViz interactive markers [1] by allowing an operator to specify multiple end-effector waypoint locations and grasp poses in object-centric coordinate frames and to adjust these waypoints in order to meet...
In this paper, a new saturated synchronous controller is proposed for multiple nonholonomic wheeled mobile robots to perform a time-varying formation task. Each robot is controlled to track its desired trajectory, while synchronized its motion with the two neighboring robots. A novel dynamic model of the wheeled mobile robot is derived based on Lagrange method. The Lagrange multipliers of the robot...
The idea of using mobile robots to different applications is very common today. For choosing the best hardware and software configuration for the mobile robot it is necessary in order to make a documented analysis of the environment in which the mobile robot will be evolved. The conditions regarding the working environment is mainly determined by obstacles. The purpose of the project it is to establish...
Biological creatures perform their motion by using distributed spinal control system. Natural control generates motion instantly based on the feelings from the environment. In line with this concept, an artificial control system is known as Central Pattern Generator (GPG) is an online motion generation system that can be generated instantly like spine based control system. CPG also generates online...
Robots have been traditionally in operation away from people, for instance in industrial environments. More recently, there has been a trend for bringing robots to market for helping people. In particular, children constitute a challenging group for robot interaction, due to their curiosity and energy, as well as safety concerns. This paper describes the construction process of an external structure...
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