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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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Journal ArticleDOI

Development of complex robotic systems using the behavior-based control architecture iB2C

Martin Proetzsch, +2 more
- 01 Jan 2010 - 
TL;DR: It is shown how architectural principles support several behavior-based mechanisms, e.g. coordination mechanisms, behavior interaction, and hierarchical abstraction in iB2C (integrated Behavior-Based Control).

Distributed Central Pattern Generator Control for a Serpentine Robot

Jörg Conradt, +1 more
TL;DR: The main aim of the project is to demonstrate elegant motion on a robot with a large number of degrees of freedom under the control of a simple distributed neural system as found in many animals' spinal cord.

Evolution of PolyBot: A Modular Reconfigurable Robot

David G. Duff, +1 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 are being addressed while exploring the potential of modular, selfreconfigurable robots.
Journal ArticleDOI

Toward a scalable modular robotic system

Satoshi Murata, +2 more
- 01 Dec 2007 - 
TL;DR: A simple docking method using an onboard camera module and LEDs equipped on the modules, and a special modular configuration designed for docking, which absorbs positional errors are proposed.

Locomotion capabilities of a modular robot with eight pitch-yaw-connecting modules

Juan González Gómez, +3 more
TL;DR: In this article, the authors presented an electronic version of the paper presented at the International Conference on Climbing and Walking Robots, held in 2006 on Brussels, in which they presented a climbing and walking robot.
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.