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International Conference on control, Automation and systems ( ICCAS)

作者： Zheng-Guang Wu Ju H. Park Bo Song Sang-Choel Lee Dong Ha Lee Department of Electrical Engineering Yeungnam University Kyongsan South Korea National Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou Zhejiang China Division of IT Convergence/Division of Robotics System DGIST Daegu South Korea

This paper is concerned with the synchronization problem for complex dynamical networks with time-varying coupling delay and sampled-data. The sampling period considered here is assumed to be time-varying but bounded. A novel exponential synchronization condition is established based on the Gronwall's inequality, and an explicit expression for a set of sampled-data synchronization controllers is also given in terms of the solution to linear matrix inequalities. A numerical example is introduced to show the effectiveness of the given result.

关键词： Synchronization Delay Symmetric matrices Couplings Complex networks Trajectory Time varying systems

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Triangular formation control using range measurements: An application to marine robotic vehicles

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IFAC Proceedings Volumes 2012年第5期45卷 112-117页

作者： Jorge M. Soares A. Pedro Aguiar António M. Pascoal Marco Gallieri Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico Technical University of Lisbon Av. Rovisco Pais 1049-001 Lisboa Portugal School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne (EPFL) CH-1015 Lausanne Switzerland Control Group Engineering Department Sidney Sussex College University of Cambridge CB21PZ Cambridge UK

This paper addresses the problem of maintaining an autonomous robotic vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The robotic vehicle has no a priori knowledge of the path described by the leaders and its goal is to follow them by constantly regulating the inter-vehicle distances to a desired fixed value, using range-only measurements. To solve this station keeping problem, we propose a control strategy that estimates the formation speed and heading from the ranges obtained to the two leading vehicles, and uses simple feedback laws for speed and heading commands to drive suitably defined common and differential errors to zero. For straight-line motion, we provide guaranteed conditions under which the proposed control strategy achieves local convergence of the distance errors to zero. We also indicate how our design procedure can be extended to full dynamic models of marine robotic vehicles equipped with inner loops for yaw and speed control. Simulation results using realistic models are described and discussed.

关键词： Autonomous Vehicles Marine systems control Laws Lyapunov Stability Formation control Station Keeping Triangular Formations

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Cooperative Multi-robot Box Pushing Inspired by Human Behaviour

Cooperative Multi-robot Box Pushing Inspired by Human Behavi...

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12th Annual Conference on Towards Autonomous Robotic systems, TAROS 2011

作者： Chen, Jianing Groß, Roderich Natural Robotics Lab Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9783642232312

This paper investigates mechanisms underlying cooperative behaviour in a group of miniature mobile robots around the problem of coordinating a group of robots to push collectively a heavy object. Numerous solutions to this problem have been proposed [5,7,4]. The performance of these however typically deteriorates as the number of robots increases to more than a dozen. The cause of this is often said to be robot interference—there are many robots but insufficient space to manipulate the object effectively. The situation is particular difficult when the object itself occludes the view of robots [3]. In this case, robots can benefit from division of labour (e.g., see [2]). Here, we take inspiration of the division of labour in teams of humans pushing a large object towards a target location: persons who can see the target push the box only when the transporting direction needs to be corrected, while all other persons simply push the box forward. The two roles in this cooperation are indicated in Fig. 1(a). © 2011, Springer-Verlag Berlin Heidelberg.

关键词： Behavioral research

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Vision-Based Segregation Behaviours in a Swarm of Autonomous Robots

Vision-Based Segregation Behaviours in a Swarm of Autonomous...

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12th Annual Conference on Towards Autonomous Robotic systems, TAROS 2011

作者： Price, Michael J. Groß, Roderich Natural Robotics Lab Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9783642232312

The accelerating development and usage of autonomous robots has led to increased interest in decentralised systems and the cooperation of individual elements within a swarm, in particular the ability to self-organise and form patterns or self-segregate. Such segregation is readily exhibited in nature, as highlighted by prior work looking at the collective sorting of brood items by ant colonies [1,3]. This work focuses on the ability of robots to spatially segregate themselves. In particular, it takes inspiration primarily from the Brazil nut effect [6], which is responsible for the emergent striped patterns observed when a container holding particles of different sizes is agitated. © 2011, Springer-Verlag Berlin Heidelberg.

关键词： Robots

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Forming Nested 3D Structures Based on the Brazil Nut Effect

Forming Nested 3D Structures Based on the Brazil Nut Effect

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12th Annual Conference on Towards Autonomous Robotic systems, TAROS 2011

作者： Foster, Stephen Groß, Roderich Natural Robotics Lab Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9783642232312

This study investigates the formation of nested structures in swarms of intelligent agents that can freely move in three dimensions. The underlying segregation mechanism is inspired by the Brazil nut effect, which occurs when granular mixtures are subjected to vibrations [6,1]. Similar effects were reported for brood items sorted by ants [3]. This sorting behaviour was validated with swarms of mobile robots [7,5]. Different from these studies we are concerned with sorting the agents themselves. In [4], we proposed a controller based on the Brazil nut effect that was capable of segregating groups of simulated e-puck robots reliably in two dimensions. In the present study, we investigate a 3D particle system implemented in NetLogo1. The agentsmimic the behaviour of particles of distinct sizes. The motion of each agent is determined by three types of vectors [4]: (i) a repulsion vector for every agent that intrudes the particle’s virtual body, (ii) a random vector simulating vibrations, (iii) and a "gravitational" vector that points to a "centre" location. The agents do not communicate. However, the repulsion behaviour requires them to sense each others’ relative positions within their particle range. The segregation quality is measured as the percentage of pairs of particles from different groups that are segregated correctly (based on distance to centre) [4]. A value of 100% corresponds to perfect structures with all large agents surrounding the small agents, 50% corresponds to purely random structures, whereas 0% corresponds to perfect but inverted structures. © 2011, Springer-Verlag Berlin Heidelberg.

关键词： Vectors

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New simplified model for an under-actuated quadruped robot in bounding motion

New simplified model for an under-actuated quadruped robot i...

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2011 2nd International Conference on control, Instrumentation and Automation, ICCIA 2011

作者： Kazemi, Hamed Majd, Vahid Johari Moghaddam, Majid M. Intelligent Control Systems Laboratory School of Electrical and Computer Engineering Tarbiat Modares University Tehran Iran Robotics and Mechatronics Laboratory Mechanical Engineering Department Tarbiat Modares University Tehran Iran

ISBN: (纸本)9781467316903

In this paper, a quadruped robot is studied in bounding motion. A new simplified model of quadruped robot in bounding motion with four actuated and two unactuated joints is developed. The kinetic and potential energies of the under-actuated mechanical model of the quadruped robot are obtained and the dynamics of the robot model is derived using the Lagrangian method. It is shown that the dynamical equation of the proposed simplified model belongs to a class of second-order nonholonomic mechanical systems. The main motivation of this paper is to obtain quadruped model in bounding motion such that one can apply different control methods directly or after transformation in the obtained dynamic equations. Utilizing MATLAB, dynamics of the planar model has been simulated in backward and forward states. Physical parameters of the Little-Dog robot as an instance of the quadruped robot are considered in simulation The simulation is without control and therefore is unstable but it illustrates robot's manner in bounding motion before instability. © 2011 IEEE.

关键词： Potential energy

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Sampled-data fuzzy observer design of nonlinear system for wave energy converter

Sampled-data fuzzy observer design of nonlinear system for w...

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International Conference on control, Automation and systems ( ICCAS)

作者： Genu Bum Koo Jin Bae Park Young Hoon Joo Department of Electrical and Electronic Engineering Yonsei University Seoul South Korea Department of Control Robotics and Systems Engineering Kunsan National University Kunsan Chungbuk South Korea

This paper presents a sampled-data fuzzy observer of nonlinear system for wave energy converter. The forces which affect the wave energy converter are analyzed and the dynamic equation is represented for observer design. A Takagi-Sugeno (T-S) fuzzy model is adopted for the nonlinear systems. In the T-S fuzzy model with sampled-data fuzzy observer, it obtains the norm inequality between the continuous-time state variable and the discrete-time one. Based on the norm inequality, sufficient conditions are derived for decreasing the estimation error and formulated in terms of linear matrix inequalities. Finally, a simulation is provided to verify the effectiveness of the proposed technique.

关键词： Observers Nonlinear systems Mathematical model Estimation error Fuzzy control Force

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Modified Banker's algorithm for scheduling in multi-AGV systems

Modified Banker's algorithm for scheduling in multi-AGV syst...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Luka Kalinovcic Tamara Petrovic Stjepan Bogdan Vedran Bobanac Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Laboratory for Renewable Energy Sources Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

In today's highly complex multi-AGV systems key research objective is finding a scheduling and routing policy that avoids deadlock while assuring that vehicle utilization is as high as possible. It is well known that finding such an optimal policy is a NP-hard task in general case. Therefore, big part of the research is oriented towards finding various suboptimal policies that can be applied to real world plants. In this paper we propose modified Banker's algorithm for scheduling in multi-AGV systems. A predetermined mission's path is executed in a way that some non-safe states are allowed in order to achieve better utilization of vehicles. A graph-based method of polynomial complexity for verification of these states is given. Algorithm is tested on a layout of a real plant for packing and warehousing palettes. Results shown at the end of the paper demonstrate advantages of the proposed method compared with other methods based on Banker's algorithm.

关键词： Vehicles System recovery Layout Resource management Job shop scheduling Workstations

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Nonverbal communication with a multimodal agent via facial expression recognition

Nonverbal communication with a multimodal agent via facial e...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Samuel Marcos Jaime Gómez-García-Bermejo Eduardo Zalama Joaquín López Robotics and Computer Vision Division CARTIF Centro Tecnológico Valladolid Spain Department of Systems Engineering and Automatic Control Industrial Engineering School University of Valladolid Spain

Based on our previous work in the development of a multimodal animated avatar oriented to human-machine interaction and social robotics, a facial expression recognition system is presented in this paper. Both the avatar's architecture and facial recognition system have been oriented to FACS Action Units recognition and generation, so they can be easily integrated. The resulting animated system is able to maintain nonverbal and verbal bidirectional communication, enhancing the interaction with the avatar and making it more natural for the users.

关键词： Gabor filters Face Mouth Shape Eyebrows Face recognition Feature extraction

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New simplified model for an under-actuated quadruped robot in bounding motion

New simplified model for an under-actuated quadruped robot i...

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International Conference on control, Instrumentation, and Automation

作者： Hamed Kazemi Vahid Johari Majd Majid M. Moghaddam Intelligent Control Systems Laboratory School of Electrical and Computer Engineering Tarbiat Moalem University Tehran Iran Intelligent Control Systems Laboratory Tarbiat Modares University Tehran Iran Robotics and Mechatronics Laboratory Mechanical Engineering Department Tarbiat Moalem University Tehran Iran Mechanical Engineering Department Tarbiat Modares University Tehran Iran

关键词： Mathematical model Legged locomotion Dynamics Equations Joints Robot kinematics

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