Showing papers by "Veysel Gazi published in 2022"
TL;DR: In this paper , a kinematic continuous time swarm model is considered by extending the results in the paper "A class of attractions/repulsion functions for stable swarm aggregations" (as shown in the International Journal of Control, vol. 77, pages 1567-1579).
Abstract: In this article, a kinematic continuous time swarm model is considered by extending the results in the paper “A class of attractions/repulsion functions for stable swarm aggregations” (as shown in the International Journal of Control, vol. 77, pages 1567–1579). The extension regards a more general class of attraction/repulsion functions that can be used to explain the formation of rotational patterns in a swarm of agents. The main characteristic of this model is the introduction of two coordinate-coupling matrices weighting both the attractive and the repulsive interactions among the agents. A stability analysis is presented to characterize the swarm in terms of size and cohesiveness. Moreover, a class of attraction/repulsion functions is presented to guarantee the cohesiveness of the swarm in a polytopic region and a steady-state motion of the agents in a rotational frame around the swarm centroid. Numerical simulations are provided to illustrate the obtained results.
4 citations
17 May 2022
TL;DR: In this article , the authors present a methodology to generate proper state trajectories of a swarm of agents, described as a single integrator model, and the main goal of the proposed methodology is to route the agents into planar polygons like areas, so that to accomplish for cooperative perimeter surveillance or target capturing tasks.
Abstract: This paper presents a methodology to generate proper state trajectories of a swarm of agents, described as a single integrator model. The main goal of the proposed methodology is to route the agents into planar polygons like areas, so that to accomplish for cooperative perimeter surveillance or target capturing tasks. In particular, the agents are driven into a polygonal strip defined by a given containment external convex polygonal region and an internal forbidden convex polygonal region around a prescribed target. The control law is designed looking at a circular strip, then a conversion from circular to polygonal areas is applied to achieve the prescribed goal. Steady-state conditions are analyzed and sufficient conditions derived in terms of the control law parameters. Simulation results put in light the main properties of the resulting kinematic state description.
1 citations
TL;DR: In this paper , the authors focus on the target capturing problem for a swarm of agents modelled as double integrators in any finite space dimension, where each agent knows the relative position of the target and has only an estimation of its velocity and acceleration.
Abstract: In this paper we focus on the target capturing problem for a swarm of agents modelled as double integrators in any finite space dimension. Each agent knows the relative position of the target and has only an estimation of its velocity and acceleration. Given that the estimation errors are bounded by some known values, it is possible to design a control law that ensures that agents enter a user-defined ellipsoidal ring around the moving target. Agents know the relative position of the other members whose distance is smaller than a common detection radius. Finally, in the case of no uncertainty about target data and homogeneous agents, we show how the swarm can reach a static configuration around the moving target. Some simulations are reported to show the effectiveness of the proposed strategy.
1 citations
21 Jun 2022
TL;DR: This paper verifies in a realistic scenario that the agents converge to a user-defined ellipsoidal ring around the target despite the uncertainties and the more realistic agent dynamics.
Abstract: In a recent paper [1], we developed a target capturing strategy for swarms composed of double integrator agents. In this paper, we build on the results in [1] and focus on the implementation of the methodology for a swarm composed of quadrotor UAVs. We utilize both MATLAB and ROS environments under realistic conditions for that purpose. In ROS, we utilize Ultra-Violet LED blinkers based Ultra-Violet Direction And Ranging (UVDAR) system for relative localization. The sensing and localization errors serve as realistic errors for the assumptions in [1] for the uncertainties of the velocity and acceleration of the target. We verify in a realistic scenario that the agents converge to a user-defined ellipsoidal ring around the target despite the uncertainties and the more realistic agent dynamics.
17 May 2022
TL;DR: In this paper , thermally powered soft fluidic actuators that utilize liquid/gas phase transition property of low boiling point liquids are investigated to generate desired pressure level and have great potential to free mechano-therapy devices from such bulky components.
Abstract: Rigid-body industrial robotic manipulators and pneumatic compression systems are widely used in mechano-therapeutic applications. However, rigid and bulky components reduce the wearability of the system in mobile environments. The current trend in wearable robotics tends to build such devices using textiles/silicone materials thanks to their lightness, compliancy, and comfort properties. In this study, thermally powered soft fluidic actuators that utilize liquid/gas phase transition property of low boiling point liquids are investigated. Proposed actuators generate desired pressure level and have great potential to free mechano-therapy devices from such bulky components. The developed structure incorporates textile-based heaters, thin film actuator shells, and low boiling point liquids. Here, two low boiling liquids with different boiling temperature are mixed successfully in order to obtain desired boiling point. Results a revealed that actuators constructed with PE/PA membrane did not show any deterioration even after 500 cycle actuation. In order to control the system, instantaneous temperature of the textile-based heater on the actuator device is used as feedback for the on-off controller.