The dynamic coverage procedure for a group of non-holonomic agents in 3D unknown environment is studied in this paper. First, the chained model of the system is exploited. Then, a cost function which its efficiency is...
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The dynamic coverage procedure for a group of non-holonomic agents in 3D unknown environment is studied in this paper. First, the chained model of the system is exploited. Then, a cost function which its efficiency is proved by Lyapunov function in order to obtain control inputs is proposed. Besides, the reachable set for each agent is derived according to obtained control inputs and is applied to the group. Finally, the simulation results illustrate the performance of the suggested algorithm.
In this paper the problem of dynamic manipulation of active objects by throwing is studied. Here active object means a multi-body object that can actively move its body parts. The prime reason for selecting this probl...
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In this paper the problem of dynamic manipulation of active objects by throwing is studied. Here active object means a multi-body object that can actively move its body parts. The prime reason for selecting this problem is existence of conceptual analogy between it and dynamic walking. The second reason is theoretical attraction in addition to its possible practical applications for manipulation of active objects in space or in micro scales. First the task is decomposed into three distinct phases and it is mathematically modeled. Main constraints such as requirement to hold dynamic grasp are also derived and mapped into the manipulator's configuration space. Then the task is formulated as an optimization problem and a proper cost function in the manipulator's configuration space is presented. Finally this optimization problem is solved for obtaining appropriate trajectories of manipulator's joints in addition to that of the active object. Simulation results in ADAMS verify the developed formulations.
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