Journal ArticleDOI
Adaptive distributed formation control for multiple nonholonomic wheeled mobile robots
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TLDR
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.About:
This article is published in Neurocomputing.The article was published on 2016-01-15. It has received 91 citations till now. The article focuses on the topics: Nonholonomic system & Mobile robot.read more
Citations
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Journal ArticleDOI
Neural-Learning-Based Telerobot Control With Guaranteed Performance
TL;DR: A neural networks (NNs) enhanced telerobot control system is designed and tested on a Baxter robot and guaranteed performance is achieved at both kinematic and dynamic levels.
Journal ArticleDOI
Distributed consensus-based formation control for nonholonomic wheeled mobile robots using adaptive neural network
TL;DR: In this paper, a variable transformation is proposed to convert the formation control problem into a state consensus problem, and the distributed kinematic controllers and neural network torque controllers are derived for each robot such that a group of nonholonomic mobile robots asymptotically converge to a desired geometric pattern along the specified reference trajectory.
Journal ArticleDOI
Mobile-robotic machining for large complex components: A review study
Tao Bo,Xingwei Zhao,Han Ding +2 more
TL;DR: Some historical mobile-robotic machining systems are reviewed, followed by some key techniques related to structure optimization, dynamics of the machining process, localization, and control techniques, which are fundamental for the structural stiffness and motion accuracy of mobile-Robots.
Journal ArticleDOI
Distributed formation control of nonholonomic autonomous vehicle via RBF neural network
TL;DR: In this article, a consensus-based distributed control scheme for nonholonomic autonomous vehicles in a pre-defined formation along a specified reference trajectory is proposed. And sufficient conditions are derived to accomplish the asymptotically stability of the systems based on algebraic graph theory, matrix theory, and Lyapunov theory.
Journal ArticleDOI
Formation Control for a Fleet of Autonomous Ground Vehicles: A Survey
Aakash Soni,Huosheng Hu +1 more
TL;DR: The next step in autonomous vehicle research is the collaboration between autonomous vehicles, mainly vehicle formation control or vehicle platooning, and a large number of the existing published papers have been reviewed systemically.
References
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Journal ArticleDOI
Flocking for multi-agent dynamic systems: algorithms and theory
TL;DR: A theoretical framework for design and analysis of distributed flocking algorithms, and shows that migration of flocks can be performed using a peer-to-peer network of agents, i.e., "flocks need no leaders."
Journal ArticleDOI
Information flow and cooperative control of vehicle formations
J.A. Fax,Richard M. Murray +1 more
TL;DR: A Nyquist criterion is proved that uses the eigenvalues of the graph Laplacian matrix to determine the effect of the communication topology on formation stability, and a method for decentralized information exchange between vehicles is proposed.
Journal ArticleDOI
Behavior-based formation control for multirobot teams
Tucker Balch,Ronald C. Arkin +1 more
TL;DR: New reactive behaviors that implement formations in multirobot teams are presented and evaluated and demonstrate the value of various types of formations in autonomous, human-led and communications-restricted applications, and their appropriateness in different types of task environments.
Proceedings ArticleDOI
A stable tracking control method for an autonomous mobile robot
TL;DR: The control rule and limiting method proposed are robot independent and hence can be applied to various kinds of mobile robots with a dead reckoning ability and was implemented on the autonomous mobile robot Yamabico-11.
Journal ArticleDOI
Modeling and control of formations of nonholonomic mobile robots
TL;DR: This paper addresses the control of a team of nonholonomic mobile robots navigating in a terrain with obstacles while maintaining a desired formation and changing formations when required, using graph theory.
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