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Open AccessJournal ArticleDOI

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

Alberto Brunete, +3 more
- 01 Dec 2012 - 
- Vol. 60, Iss: 12, pp 1607-1624
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TLDR
A new control architecture designed for heterogeneous modular, multi-configurable, chained micro-robots is presented, which can automatically reconfigure its actions to adapt to unpredicted events (such as actuator failure).
About: 
This article is published in Robotics and Autonomous Systems.The article was published on 2012-12-01 and is currently open access. It has received 34 citations till now. The article focuses on the topics: Applications architecture & Reference architecture.

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Journal ArticleDOI

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

Zhaoxia Peng, +3 more
- 01 Sep 2013 - 
TL;DR: This paper investigates the leader-follower formation control problem for nonholonomic mobile robots based on a bioinspired neurodynamics based approach, and proposes an auxiliary angular velocity control law to guarantee the global asymptotic stability of the followers and to further guarantee the local asymPTotic Stability of the entire formation.
Journal ArticleDOI

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

Zhaoxia Peng, +3 more
- 01 Jun 2015 - 
TL;DR: A transformation is given to convert the formation control problem for multiple nonholonomic mobile robots into a state consensus problem with rigorous proofs provided by using graph, matrix, and Lyapunov theories.
Journal ArticleDOI

Adaptive distributed formation control for multiple nonholonomic wheeled mobile robots

Zhaoxia Peng, +4 more
- 15 Jan 2016 - 
TL;DR: First, the formation control problem is converted into a state consensus problem by the aid of a variable transformation, and distributed kinematic controllers and adaptive dynamic controllers are developed for each robot such that a group of nonholonomic mobile robots asymptotically converge to a desired geometric pattern with its centroid moving along the specified reference trajectory.
Journal ArticleDOI

Current trends in reconfigurable modular robots design

Alberto Brunete, +5 more
- 12 Jun 2017 - 
TL;DR: 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.
Book ChapterDOI

Behavior-Based Systems

François Michaud, +1 more
TL;DR: This chapter is to explain behavior-based systems and their use in autonomous control problems and applications, and provides an overview of various robotics problems and application domains that have successfully been addressed or are currently being studied with behavior- based control.
References
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Book

An Behavior-based Robotics

Ronald C. Arkin
TL;DR: Following a discussion of the relevant biological and psychological models of behavior, the author covers the use of knowledge and learning in autonomous robots, behavior-based and hybrid robot architectures, modular perception, robot colonies, and future trends in robot intelligence.
Book

Behavior-Based Robotics

Ronald C. Arkin
TL;DR: Whence behaviour? animal behaviour robot behaviour behaviour based architectures representational issues for behavioural systems hybrid deliberative/rective architectures perceptual basis for behaviour-based control adaptive behaviour social behaviour fringe robotics - beyond behaviour.
Journal ArticleDOI

Modular Self-Reconfigurable Robot Systems [Grand Challenges of Robotics]

Mark Yim, +7 more
- 02 Apr 2007 - 
TL;DR: Several of the key directions for the future of modular self-reconfigurable robotic systems, including the design, fabrication, motion planning, and control of autonomous kinematic machines with variable morphology are shown.
Proceedings ArticleDOI

PolyBot: a modular reconfigurable robot

Mark Yim, +2 more
TL;DR: PolyBot is the first robot to demonstrate sequentially two topologically distinct locomotion modes by self-reconfiguration, and as the design evolves the issues of low cost and robustness will be resolved while exploring the potential of modular, self- reconfigurable robots.
Journal ArticleDOI

Situated agents can have goals

Pattie Maes
- 01 Jun 1990 - 
TL;DR: A novel action selection theory is presented which allows arbitration among goals and actions while producing fast and robust activity in a tight interaction loop with the environment.
Related Papers (5)

Behavior-based formation control for multirobot teams

Tucker Balch, +1 more

High Precision Formation Control of Mobile Robots Using Virtual Structures

M. Anthony Lewis, +1 more
- 01 Oct 1997 - 

A vision-based formation control framework

Aveek Das, +5 more

Formation constrained multi-agent control

Magnus Egerstedt, +1 more

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

Zhaoxia Peng, +3 more
- 01 Sep 2013 - 
Frequently Asked Questions (1)
Q1. What are the contributions mentioned in the paper "A behaviour-based control architecture for heterogeneous modular, multi-configurable, chained micro-robots" ?

In this paper, the authors present a control solution for chained, modular robots composed of different types of module ( heterogeneous modules ) that can be arranged in different configurations, a feature called multi-configurability.