scispace - formally typeset
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
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.

read more

Figures
Citations
More filters
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
More filters
Journal ArticleDOI

Multimode locomotion via SuperBot reconfigurable robots

Wei-Min Shen, +5 more
- 01 Mar 2006 - 
TL;DR: A modular and reconfigurable solution by allowing a robot to support multiple modes of locomotion and select the appropriate mode for the task at hand by using the SuperBot robot that combines advantages from M-TRAN, CONRO, ATRON, and other chain-based and lattice-based robots.
Proceedings ArticleDOI

New locomotion gaits

Mark Yim
TL;DR: This paper investigates new modes of robot land locomotion, in particular statically stable non-wheeled, non-tracked locomotion using a reconfigurable modular robot called Polypod using a control scheme combining a small number of primitive control modes for each module.
Journal ArticleDOI

The Kinetics of Locomotion of the Grass-Snake

J. Gray, +1 more
- 01 Feb 1950 - 
TL;DR: The distribution and magnitude of the external forces acting against a moving snake has been determined for (i) an animal moving through a close-fitting zigzag channel, and (ii) a gliding past one or more rigid pegs as discussed by the authors.
Proceedings ArticleDOI

Mechatronic design of a modular self-reconfiguring robotic system

Cem Unsal, +1 more
TL;DR: Design and implementation of I-Cubes, a modular self-reconfigurable robotic system, is discussed and design and hardware implementation of the system as well as experimental results are presented.
Proceedings ArticleDOI

M-TRAN II: metamorphosis from a four-legged walker to a caterpillar

Haruhisa Kurokawa, +5 more
TL;DR: Hardware design, developed software and experiments are presented in this paper and various improvements are integrated in order to realize complicated reconfigurations and versatile whole body motions in M-TRAN II.
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.