Leader-follower formation control of nonholonomic mobile robots based on a bioinspired neurodynamic based approach

In this paper, the distributed formation control problem for multiple nonholonomic mobile robots using consensus-based approach is considered. A transformation is given to convert the formation control problem for multiple nonholonomic mobile robots into a state consensus problem. Distributed control laws are developed for achieving the formation control objectives: a group of nonholonomic mobile robots at least exponentially converge to a desired geometric pattern with its centroid moving along the specified reference trajectory. Rigorous proofs are provided by using graph, matrix , and Lyapunov theories. Simulations are also given to verify the effectiveness of the theoretical results.

Distributed consensus-based formation control for multiple nonholonomic mobile robots with a specified reference trajectory

Adaptive distributed formation control for multiple nonholonomic wheeled mobile robots

Employing Modular Robotic Systems (MRS) in different application domains confronts a large number of challenging problems in design, optimization, and planning, and so identifying characteristics of such problems is an important step toward finding proper solution approaches for them. In this paper, we address this issue and provide a comprehensive study on MRS through a structured survey about MRS characteristics and their applications. A novel framework called MITE is proposed to characterize both the properties and applications of MRS from four perspectives of Module, Information, Task, and Environment, based on more than 120 domain-specific features, supplemented by a mapping scheme for describing the interrelations of the four basic aspects of the Task component, namely, Application (for describing high-level tasks such as navigation and rescue), Behavior (for referring to constitutive behaviors like locomotion and manipulation which bring about Applications), Goal (for characterizing the way Behaviors are accomplished), and Operation (for designating activities specific to modular robots, such as self-reconfiguration and gait control). Also, by providing a methodical review on modular robotics, the paper deals with some analyses on recent trends, research gaps and challenges, as well as open problems in the field of MRS.

Modular Robotic Systems: Characteristics and Applications

This article presents a review on trends in modular reconfigurable robots, comparing the evolution of the features of the most significant robots over the years and focusing on the latest designs. These features are reconfiguration, docking, degrees of freedom, locomotion, control, communications, size, and powering. For each feature, some of the most relevant designs are presented and the current trends in the design are discussed.

Current trends in reconfigurable modular robots design

A behaviour-based control architecture for heterogeneous modular, multi-configurable, chained micro-robots

Heterogeneous multi-configurable chained microrobot for the exploration of small cavities

This paper presents the new concept of a description language for modular robots called module description language (MDL). A specific implementation of this concept has been designed and tested to describe the capabilities of modules of a chained heterogeneous robot (both from the point of view of movements and tasks it can perform). Thanks to MDL each module is able to report dynamically what is able to do (capabilities like rotate, extend, push forward, measure temperature or distance) to other modules or to a central control, and it is also possible to set up new actions for the whole robot, like combined movements. The description of current capabilities of modules allows the robot to react to failures at runtime.

/pdf/mdl-a-module-description-language-for-chained-heterogeneous-4pq9at9lcr.pdf

J. E. Torres

Papers

A behaviour-based control architecture for heterogeneous modular, multi-configurable, chained micro-robots

Heterogeneous multi-configurable chained microrobot for the exploration of small cavities

MDL: A module description language for chained heterogeneous modular robots