Journal ArticleDOI
Motion control of an articulated mobile manipulator in 3D using the Lyapunov-based control scheme
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In this paper, the authors present a new method for finding feasible solutions to motion planning and control problem of robotic systems in different environments with various applications is an active area of research.Abstract:
Finding feasible solutions to motion planning and control problem of robotic systems in different environments with various applications is an active area of research. This article presents a new s...read more
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LbCS navigation controllers of Twining Lagrangian swarm individuals
TL;DR: In this article, the authors presented stabilizing velocity controllers for the individuals of two Lagrangian swarms, which navigates from their initial configuration space to their final configuration space, ensuring intra and inter swarm individual collision avoidance.
Journal ArticleDOI
Switch controllers of an n-link revolute manipulator with a prismatic end-effector for landmark navigation
TL;DR: In this article , a new set of stabilizing switched velocity-based continuous controllers was derived using the Lyapunov-based Control Scheme (LbCS) from the category of classical approaches where switching of these nonlinear controllers is invoked by a new rule.
Journal ArticleDOI
Assistive technology: autonomous wheelchair in obstacle-ridden environment.
TL;DR: In this article, a set of new nonlinear time-invariant stabilizing controllers for safe navigation of an autonomous nonholonomic rear-wheel drive wheelchair is presented, where the velocity-based controllers are extracted from a Lyapunov function, the total potentials designed using the LyapUNov based Control Scheme (LbCS) falling under the classical approach of the artificial potential field method.
Journal ArticleDOI
ACO-Kinematic: a hybrid first off the starting block
TL;DR: A novel solution to the robot navigation problem is considered by proposing a new hybrid algorithm designed by combining the ant colony optimization algorithm and kinematic equations of the robot to enable a robot to reach its destination.
Journal ArticleDOI
Linear manipulator: Motion control of an n-link robotic arm mounted on a mobile slider
TL;DR: In this paper , a modified unanchored linear manipulator consisting of an n-link robotic arm mounted on a mobile slider along a rail is used to perform assigned tasks with enhanced reachability.
References
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Journal ArticleDOI
Patients’ Responsibilities in Medical Ethics
TL;DR: It is argued that certain duties of patients counterbalance an otherwise unfair captivity of doctors as helpers and that vulnerability does not exclude obligation.
Journal ArticleDOI
Real-time obstacle avoidance for manipulators and mobile robots
TL;DR: This paper reformulated the manipulator con trol problem as direct control of manipulator motion in operational space—the space in which the task is originally described—rather than as control of the task's corresponding joint space motion obtained only after geometric and geometric transformation.
Journal ArticleDOI
An Overview of Recent Progress in the Study of Distributed Multi-Agent Coordination
TL;DR: In this article, the authors reviewed some main results and progress in distributed multi-agent coordination, focusing on papers published in major control systems and robotics journals since 2006 and proposed several promising research directions along with some open problems that are deemed important for further investigations.
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An Overview of Recent Progress in the Study of Distributed Multi-agent Coordination
TL;DR: In this paper, the authors reviewed some main results and progress in distributed multi-agent coordination, focusing on papers published in major control systems and robotics journals since 2006, and proposed several promising research directions along with some open problems that are deemed important for further investigations.
Journal ArticleDOI
Leader-follower formation control of underactuated autonomous underwater vehicles
TL;DR: In this article, a leader-follower formation control of multiple underactuated autonomous underwater vehicles (AUVs) is proposed, where the follower tracks a reference trajectory based on the leader position and predetermined formation without the need for leader's velocity and dynamics.