Robust formation control for networked robotic systems using Negative Imaginary dynamics
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TLDR
In this paper , a consensus-based formation tracking scheme for multi-robot systems utilizing the Negative Imaginary (NI) theory is proposed, which applies to a class of networked robotic systems that can be modelled as a group of single integrator agents with stable uncertainties connected via an undirected graph.About:
This article is published in Automatica.The article was published on 2022-06-01 and is currently open access. It has received 20 citations till now. The article focuses on the topics: Robustness (evolution) & Controllability.read more
Citations
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Distributed Motion Planning for Safe Autonomous Vehicle Overtaking via Artificial Potential Field
TL;DR: In this paper , a distributed motion planning algorithm was proposed to ensure safe overtaking of autonomous vehicles in a dynamic environment using the Artificial Potential Field method, where the targets are dynamic.
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Observer-Based Dynamic Event-Triggered Adaptive Control of Distributed Networked Systems With Application to Ground Vehicles
TL;DR: In this paper , a distributed observer-and event-based practical consensus control for networked systems subject to adaptive nonlinear couplings is investigated, considering that the node's state is not always measurable and the finite communication bandwidth exists in engineering systems.
Journal ArticleDOI
Observer-Based Dynamic Event-Triggered Adaptive Control of Distributed Networked Systems With Application to Ground Vehicles
TL;DR: In this article , a distributed observer-and event-based practical consensus control for networked systems subject to adaptive nonlinear couplings is investigated, considering that the node's state is not always measurable and the finite communication bandwidth exists in engineering systems.
Journal ArticleDOI
Machine learning-based intrusion detection for SCADA systems in healthcare
Journal ArticleDOI
Distributed Motion Planning for Safe Autonomous Vehicle Overtaking via Artificial Potential Field
TL;DR: In this article , a distributed motion planning algorithm was proposed to ensure safe overtaking of autonomous vehicles in a dynamic environment using the Artificial Potential Field method, where the targets are dynamic.
References
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Journal ArticleDOI
Distributed multi‐vehicle coordinated control via local information exchange
Wei Ren,Ella M. Atkins +1 more
TL;DR: This paper introduces second-order consensus protocols that take into account motions of the information states and their derivatives, extending first-order protocols from the literature and derives necessary and sufficient conditions under which consensus can be reached in the context of unidirectional information exchange topologies.
Journal ArticleDOI
Distributed coordination architecture for multi-robot formation control
Wei Ren,N. Sorensen +1 more
TL;DR: A unified, distributed formation control architecture that accommodates an arbitrary number of group leaders and arbitrary information flow among vehicles is proposed, which requires only local neighbor-to-neighbor information exchange.
Journal ArticleDOI
Time-varying formation control for general linear multi-agent systems with switching directed topologies
Xiwang Dong,Guoqiang Hu +1 more
TL;DR: It is proven that by designing the formation protocol using the proposed algorithm, time-varying formation can be achieved by multi-agent systems with general linear dynamics and switching directed topologies if the dwell time is larger than a positive threshold.
Journal ArticleDOI
Stability Robustness of a Feedback Interconnection of Systems With Negative Imaginary Frequency Response
Alexander Lanzon,Ian R. Petersen +1 more
TL;DR: A necessary and sufficient condition, expressed simply as the dc loop gain being less than unity, is given in this note to guarantee the internal stability of a feedback interconnection of linear time-invariant multiple-input multiple-output systems with negative imaginary frequency response.
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A Practical Multirobot Localization System
Tomas Krajnik,Matias Nitsche,Jan Faigl,Petr Vanĕk,Martin Saska,Libor Přeučil,Tom Duckett,Marta Mejail +7 more
TL;DR: The core component of the software is a novel and efficient algorithm for black and white pattern detection that is robust to variable lighting conditions, achieves sub-pixel precision and its computational complexity is independent of the processed image size.