This paper focuses on securing a triangular shape (up to translation) for a team of three mobile robots that uses heterogeneous sensing mechanism. Based on the available local information, each robot employs the popul...
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— In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to have the form of a disk with equal r...
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A multi-agent system designed to achieve distance-based shape control with flocking behavior can be seen as a mechanical system described by a Lagrangian function and subject to additional external forces. Forced vari...
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A multi-agent system designed to achieve distance-based shape control with flocking behavior can be seen as a mechanical system described by a Lagrangian function and subject to additional external forces. Forced variational integrators are given by the discretization of Lagrange-d’Alembert principle for systems subject to external forces, and have proved useful for numerical simulation studies of complex dynamical systems. We derive forced variational integrators that can be employed in the context of control algorithms for distance-based shape with velocity consensus. In particular, we provide an accurate numerical integrator with a lower computational cost than traditional solutions, while preserving the configuration space and symmetries. We also provide an explicit expression for the integration scheme in the case of an arbitrary number of agents with double integrator dynamics. For a numerical comparison of the performances, we use a planar formation consisting of three autonomous agents.
This paper describes an interactive tool focused on teaching and learning basic concepts on multivariable control systems. Most industrial processes are represented by multivariable systems and thus the teaching and l...
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This paper describes an interactive tool focused on teaching and learning basic concepts on multivariable control systems. Most industrial processes are represented by multivariable systems and thus the teaching and learning of basic concepts on multivariable control is a key factor in control engineering education. In this sense, the interactive tool presented in this paper is aimed to introduce basic ideas on multivariable control systems mainly focused on interaction and pairing concepts.
We present three classes of distributed formation controllers for achieving and maintaining the 2D/3D formation shape of manipulator end-effectors to cope with different scenarios due to availability of modeling param...
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This paper addresses the problem of end-effector formation control for manipulators that are subjected to external disturbances: input disturbance torques and disturbance forces at each end-effector. The disturbances ...
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A multi-agent system designed to achieve distance-based shape control with flocking behavior can be seen as a mechanical system described by a Lagrangian function and subject to additional external forces. Forced vari...
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