Read Books Online and Download eBooks, EPub, PDF, Mobi, Kindle, Text Full Free.
Formation Control For Non Holonomic Mobile Robots
Download Formation Control For Non Holonomic Mobile Robots full books in PDF, epub, and Kindle. Read online Formation Control For Non Holonomic Mobile Robots ebook anywhere anytime directly on your device. Fast Download speed and no annoying ads. We cannot guarantee that every ebooks is available!
Book Synopsis Formation Control For Non-Holonomic Mobile Robots by : Juan Marcos Toibero
Download or read book Formation Control For Non-Holonomic Mobile Robots written by Juan Marcos Toibero and published by . This book was released on 2008 with total page 1 pages. Available in PDF, EPUB and Kindle. Book excerpt: Formation Control for Non-Holonomic Mobile Robots: A Hybrid Approach.
Book Synopsis Formation Control for Non-Holonomic Mobile Robots: A Hybrid Approach by : Juan Marcos Toibero
Download or read book Formation Control for Non-Holonomic Mobile Robots: A Hybrid Approach written by Juan Marcos Toibero and published by . This book was released on 2008 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: In this chapter it has been addressed the problem of the autonomous navigation for a group of non-holonomic mobile robots. In a first stage we considered the classic leader-based formation control problem. In spite of the stability property of this controller, we have detected large transitory errors in some circumstances, being these errors unacceptable for many applications, such as transporting large objects in a cooperative way. Based on these observations and in order to present a formal solution, we have developed a hybrid approach for the formation problem. The continuous formation controller has been complemented with an orientation controller for each follower, allowing a considerable reduction of formation errors during leader manoeuvres. The resulting hybrid control system presents a switched architecture characterized by the presence of a supervisor which generates a switching signal indicating the active controller at any moment. Besides, it has been included a formal stability proof for the whole switched system based on the theory of multiple Lyapunov functions. At the end of this chapter, we exposed simulations results that allow comparing both main strategies. Next, we have included experimental results for a two-robots formation navigating on different settings: without obstacles, and avoiding isolated obstacles by considering a reactive algorithm on the leader robot. Through these experimental results it can be concluded the good performance of the hybrid approach. Future works on this area will be related to the improvement of the obstacle avoidance capability and to increase the perception abilities of the follower robots (adding new sensors).
Book Synopsis Advanced, Contemporary Control by : Andrzej Bartoszewicz
Download or read book Advanced, Contemporary Control written by Andrzej Bartoszewicz and published by Springer Nature. This book was released on 2020-06-24 with total page 1560 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the proceedings of the 20th Polish Control Conference. A triennial event that was first held in 1958, the conference successfully combines its long tradition with a modern approach to shed light on problems in control engineering, automation, robotics and a wide range of applications in these disciplines. The book presents new theoretical results concerning the steering of dynamical systems, as well as industrial case studies and worked solutions to real-world problems in contemporary engineering. It particularly focuses on the modelling, identification, analysis and design of automation systems; however, it also addresses the evaluation of their performance, efficiency and reliability. Other topics include fault-tolerant control in robotics, automated manufacturing, mechatronics and industrial systems. Moreover, it discusses data processing and transfer issues, covering a variety of methodologies, including model predictive, robust and adaptive techniques, as well as algebraic and geometric methods, and fractional order calculus approaches. The book also examines essential application areas, such as transportation and autonomous intelligent vehicle systems, robotic arms, mobile manipulators, cyber-physical systems, electric drives and both surface and underwater marine vessels. Lastly, it explores biological and medical applications of the control-theory-inspired methods.
Book Synopsis Formation Control of Nonholonomic Mobile Robots by : Anna Danuta Sadowska
Download or read book Formation Control of Nonholonomic Mobile Robots written by Anna Danuta Sadowska and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: In recent years, there has been a considerable growth in applications of multi-robot systems as opposed to single-robot systems. This thesis presents our proposed solutions to a formation control problem in which mobile robots are required to create a desired formation shape and track a desired trajectory as a whole. In the first instance, we study the formation control problem for unicycle mobile robots. We propose two control algorithms based on a cascaded approach: one based on a kinematic model of a robot and the other based on a dynamic model. We also propose a saturated controller in which actuator limitations are explicitly accounted for. To demonstrate how the control algorithms work, we present an extensive simulation and experimental study. Thereafter we move on to formation control algorithms in which the coordination error is explicitly defined. Thus, we are able to give conditions for robots keeping their desired formation shape without necessarily tracking the desired trajectory. We also introduce a controller in which both trajectory tracking and formation shape maintenance are achieved as well as a saturated algorithm. We validate the applicability of the introduced controllers in simulations and experiments. Lastly, we study the formation control problem for car-like robots. In this case we develop a controller using the backstepping technique. We give conditions for robots keeping their desired formation shape while failing to track their desired trajectories and present simulation results to demonstrate the applicability of the proposed controller.
Book Synopsis Nonlinear Control of Nonholonomic Mobile Robot Formations by : Travis Dierks
Download or read book Nonlinear Control of Nonholonomic Mobile Robot Formations written by Travis Dierks and published by . This book was released on 2007 with total page 190 pages. Available in PDF, EPUB and Kindle. Book excerpt: "In this thesis, the framework developed to control a single nonholonomic mobile robot is expanded to include the control of formations of multiple nonholonomic mobile robots. A combined kinematic/torque control law is developed for leader-follower based formation control using backstepping in order to accommodate the dynamics of the robots and the formation in contrast with kinematic-based formation controllers typically found in literature"--Abstract, leaf iv.
Book Synopsis Decentralized Leader Follower Based Formation Control Strategies for Multiple Nonholonmic Mobile Robots by : Gayan Gamage Don
Download or read book Decentralized Leader Follower Based Formation Control Strategies for Multiple Nonholonmic Mobile Robots written by Gayan Gamage Don and published by . This book was released on 2009 with total page 264 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Formation Control written by Hyo-Sung Ahn and published by Springer. This book was released on 2019-03-29 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph introduces recent developments in formation control of distributed-agent systems. Eschewing the traditional concern with the dynamic characteristics of individual agents, the book proposes a treatment that studies the formation control problem in terms of interactions among agents including factors such as sensing topology, communication and actuation topologies, and computations. Keeping pace with recent technological advancements in control, communications, sensing and computation that have begun to bring the applications of distributed-systems theory out of the industrial sphere and into that of day-to-day life, this monograph provides distributed control algorithms for a group of agents that may behave together. Unlike traditional control laws that usually require measurements with respect to a global coordinate frame and communications between a centralized operation center and agents, this book provides control laws that require only relative measurements and communications between agents without interaction with a centralized operator. Since the control algorithms presented in this book do not require any global sensing and any information exchanges with a centralized operation center, they can be realized in a fully distributed way, which significantly reduces the operation and implementation costs of a group of agents. Formation Control will give both students and researchers interested in pursuing this field a good grounding on which to base their work.
Book Synopsis Formation Control of Multi-Agent Systems by : Marcio de Queiroz
Download or read book Formation Control of Multi-Agent Systems written by Marcio de Queiroz and published by John Wiley & Sons. This book was released on 2019-04-08 with total page 204 pages. Available in PDF, EPUB and Kindle. Book excerpt: Formation Control of Multi-Agent Systems: A Graph Rigidity Approach Marcio de Queiroz, Louisiana State University, USA Xiaoyu Cai, FARO Technologies, USA Matthew Feemster, U.S. Naval Academy, USA A comprehensive guide to formation control of multi-agent systems using rigid graph theory This book is the first to provide a comprehensive and unified treatment of the subject of graph rigidity-based formation control of multi-agent systems. Such systems are relevant to a variety of emerging engineering applications, including unmanned robotic vehicles and mobile sensor networks. Graph theory, and rigid graphs in particular, provides a natural tool for describing the multi-agent formation shape as well as the inter-agent sensing, communication, and control topology. Beginning with an introduction to rigid graph theory, the contents of the book are organized by the agent dynamic model (single integrator, double integrator, and mechanical dynamics) and by the type of formation problem (formation acquisition, formation manoeuvring, and target interception). The book presents the material in ascending level of difficulty and in a self-contained manner; thus, facilitating reader understanding. Key features: Uses the concept of graph rigidity as the basis for describing the multi-agent formation geometry and solving formation control problems. Considers different agent models and formation control problems. Control designs throughout the book progressively build upon each other. Provides a primer on rigid graph theory. Combines theory, computer simulations, and experimental results. Formation Control of Multi-Agent Systems: A Graph Rigidity Approach is targeted at researchers and graduate students in the areas of control systems and robotics. Prerequisite knowledge includes linear algebra, matrix theory, control systems, and nonlinear systems.
Book Synopsis Cooperative Control and Optimization by : Robert Murphey
Download or read book Cooperative Control and Optimization written by Robert Murphey and published by Springer Science & Business Media. This book was released on 2002-05-31 with total page 306 pages. Available in PDF, EPUB and Kindle. Book excerpt: Table of contents
Download or read book Robot Teams written by Tucker Balch and published by CRC Press. This book was released on 2002-04-17 with total page 425 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is a comprehensive volume on robot teams that will be the standard reference on multi-robot systems. The volume provides not only the essentials of multi-agent robotics theory but also descriptions of exemplary implemented systems demonstrating the key concepts of multi-robot research. Information is presented in a descriptive manner and augme
Book Synopsis Nonholonomic Motion Planning by : Zexiang Li
Download or read book Nonholonomic Motion Planning written by Zexiang Li and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 455 pages. Available in PDF, EPUB and Kindle. Book excerpt: Nonholonomic Motion Planning grew out of the workshop that took place at the 1991 IEEE International Conference on Robotics and Automation. It consists of contributed chapters representing new developments in this area. Contributors to the book include robotics engineers, nonlinear control experts, differential geometers and applied mathematicians. Nonholonomic Motion Planning is arranged into three chapter groups: Controllability: one of the key mathematical tools needed to study nonholonomic motion. Motion Planning for Mobile Robots: in this section the papers are focused on problems with nonholonomic velocity constraints as well as constraints on the generalized coordinates. Falling Cats, Space Robots and Gauge Theory: there are numerous connections to be made between symplectic geometry techniques for the study of holonomies in mechanics, gauge theory and control. In this section these connections are discussed using the backdrop of examples drawn from space robots and falling cats reorienting themselves. Nonholonomic Motion Planning can be used either as a reference for researchers working in the areas of robotics, nonlinear control and differential geometry, or as a textbook for a graduate level robotics or nonlinear control course.
Book Synopsis A Potential Field Approach to Multiple Robot Formation Control by : Rohit Santosh Talati
Download or read book A Potential Field Approach to Multiple Robot Formation Control written by Rohit Santosh Talati and published by ProQuest. This book was released on 2007 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: A special case of cooperative control for mobile robots is considered--formation control. A potential field based algorithm is developed in which geometric, communication and information centric influences are considered and allowed to deform the formation. Control is accomplished in a leader-follower(s) method. One leader robot defines the overall trajectory and follower nodes individually and autonomously maintain the formation while simultaneously moving toward a goal position. The particular nodes considered are the ARRIbots developed at the Distributed and Intelligence and Autonomy Lab (DIAL) in the Automation and Robotic and Research Institute (ARRI), which are non-holonomic differential-drive wheeled robots. In order to facilitate the above, a kinematic model for the ARRIbot mobile robot that accounts for its non-holonomic constraint and particular inputs is presented. Based on this model, a trajectory tracking controller (LQR based) is detailed assuming a given reference trajectory. Finally additional artificial forces are added to account for additional constraints on the optimal node paths and positions. Obstacle avoidance is added to the formation by repulsive forces and an artificial communications force is added in order to optimize the wireless communications channel between nodes. These results are validated using computer simulations and experiments with the ARRIbots on our mobile robot platform. It was found that the potential field algorithm was successful in maintaining the required node formation. The position error for follower nodes was found to decay as required. In addition, a simulation of mine-field detection scenario was shown to successfully combine the three formation influences. The LQR trajectory tracker was found to satisfy the requirements of the formation control algorithm. The state estimate error was low for both straight line and turning motions while the tracking error was low for straight line and high for turning motions. This was attributed to the short duration of the latter and amplification of calculation and processing delay errors. The accuracy of the state estimate errors was shown to be useful in reducing the tracking error over multiple trajectories.
Book Synopsis A Closer Look at Formation Control by : Dianwei Qian
Download or read book A Closer Look at Formation Control written by Dianwei Qian and published by . This book was released on 2020 with total page 224 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Formation control is one of the most challenging problems in cooperative multi-robots. It is defined as a coordination of a group of robots to get into and to maintain a formation with a certain shape. The formation control problem has drawn significant attention for many years, and now it is well understood and tends to be mature. This control problem is originated from biological inspires such as flocking and schooling. Its classification includes formation shape generation, formation reconfiguration and selection, formation tracking, and role assignment in formation. It also has potential applications in search and rescue missions, forest fire detection and surveillance, etc. It can be extended to many real world systems, autonomous robots, such as underwater vehicles, unmanned aerial vehicles, mobile sensor networks, rectangular agents, nonholonomic mobile robots, to name but a few. Apparently, the book cannot include all research topics. The editor and the authors wish that it could reveal some tendencies on this research field and benefit readers. In this book, different aspects of formation control are explored. Chapters includes some new tendencies and developments in research on several formation methods of multi-robot systems, that is, the 1st-order sliding mode control, the 2nd-order sliding mode control, the integral sliding mode control, the terminal sliding mode control, the sliding model control of multi-agents and the fuzzy-based formation control of multiple quadrotor systems"--
Book Synopsis Introduction to Mobile Robot Control by : Spyros G Tzafestas
Download or read book Introduction to Mobile Robot Control written by Spyros G Tzafestas and published by Elsevier. This book was released on 2013-10-03 with total page 718 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduction to Mobile Robot Control provides a complete and concise study of modeling, control, and navigation methods for wheeled non-holonomic and omnidirectional mobile robots and manipulators. The book begins with a study of mobile robot drives and corresponding kinematic and dynamic models, and discusses the sensors used in mobile robotics. It then examines a variety of model-based, model-free, and vision-based controllers with unified proof of their stabilization and tracking performance, also addressing the problems of path, motion, and task planning, along with localization and mapping topics. The book provides a host of experimental results, a conceptual overview of systemic and software mobile robot control architectures, and a tour of the use of wheeled mobile robots and manipulators in industry and society. Introduction to Mobile Robot Control is an essential reference, and is also a textbook suitable as a supplement for many university robotics courses. It is accessible to all and can be used as a reference for professionals and researchers in the mobile robotics field. Clearly and authoritatively presents mobile robot concepts Richly illustrated throughout with figures and examples Key concepts demonstrated with a host of experimental and simulation examples No prior knowledge of the subject is required; each chapter commences with an introduction and background
Book Synopsis Maneuverable Formation Control in Constrained Space by : Dongyu Li
Download or read book Maneuverable Formation Control in Constrained Space written by Dongyu Li and published by CRC Press. This book was released on 2024-05-14 with total page 411 pages. Available in PDF, EPUB and Kindle. Book excerpt: Inspired by the community behaviors of animals and humans, cooperative control has been intensively studied by numerous researchers in recent years. Cooperative control aims to build a network system collectively driven by a global objective function in a distributed or centralized communication network and shows great application potential in a wide domain. From the perspective of cybernetics in network system cooperation, one of the main tasks is to design the formation control scheme for multiple intelligent unmanned systems, facilitating the achievements of hazardous missions – e.g., deep space exploration, cooperative military operation, and collaborative transportation. Various challenges in such real-world applications are driving the proposal of advanced formation control design, which is to be addressed to bring academic achievements into real industrial scenarios. This book extends the performance of formation control beyond classical dynamic or stationary geometric configurations, focusing on formation maneuverability that enables cooperative systems to keep suitable spacial configurations during agile maneuvers. This book embarks on an adventurous journey of maneuverable formation control in constrained space with limited resources, to accomplish the exploration of an unknown environment. The investigation of the real-world challenges, including model uncertainties, measurement inaccuracy, input saturation, output constraints, and spatial collision avoidance, brings the value of this book into the practical industry, rather than being limited to academics.
Book Synopsis Robot Motion Planning and Control by : Jean-Paul Laumond
Download or read book Robot Motion Planning and Control written by Jean-Paul Laumond and published by Springer. This book was released on 1998 with total page 366 pages. Available in PDF, EPUB and Kindle. Book excerpt: Content Description #Includes bibliographical references.
Book Synopsis Mobile Robot: Motion Control and Path Planning by : Ahmad Taher Azar
Download or read book Mobile Robot: Motion Control and Path Planning written by Ahmad Taher Azar and published by Springer Nature. This book was released on 2023-06-30 with total page 670 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the recent research advances in linear and nonlinear control techniques. From both a theoretical and practical standpoint, motion planning and related control challenges are key parts of robotics. Indeed, the literature on the planning of geometric paths and the generation of time-based trajectories, while accounting for the compatibility of such paths and trajectories with the kinematic and dynamic constraints of a manipulator or a mobile vehicle, is extensive and rich in historical references. Path planning is vital and critical for many different types of robotics, including autonomous vehicles, multiple robots, and robot arms. In the case of multiple robot route planning, it is critical to produce a safe path that avoids colliding with objects or other robots. When designing a safe path for an aerial or underwater robot, the 3D environment must be considered. As the number of degrees of freedom on a robot arm increases, so does the difficulty of path planning. As a result, safe pathways for high-dimensional systems must be developed in a timely manner. Nonetheless, modern robotic applications, particularly those requiring one or more robots to operate in a dynamic environment (e.g., human–robot collaboration and physical interaction, surveillance, or exploration of unknown spaces with mobile agents, etc.), pose new and exciting challenges to researchers and practitioners. For instance, planning a robot's motion in a dynamic environment necessitates the real-time and online execution of difficult computational operations. The development of efficient solutions for such real-time computations, which could be offered by specially designed computational architectures, optimized algorithms, and other unique contributions, is thus a critical step in the advancement of present and future-oriented robotics.
