4,847 research outputs found
Computational intelligence approaches to robotics, automation, and control [Volume guest editors]
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A survey on fractional order control techniques for unmanned aerial and ground vehicles
In recent years, numerous applications of science and engineering for modeling and control of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) systems based on fractional calculus have been realized. The extra fractional order derivative terms allow to optimizing the performance of the systems. The review presented in this paper focuses on the control problems of the UAVs and UGVs that have been addressed by the fractional order techniques over the last decade
Fusion of finite set distributions: Pointwise consistency and global cardinality
A recent trend in distributed multi-sensor fusion is to use random finite set
filters at the sensor nodes and fuse the filtered distributions algorithmically
using their exponential mixture densities (EMDs). Fusion algorithms which
extend the celebrated covariance intersection and consensus based approaches
are such examples. In this article, we analyse the variational principle
underlying EMDs and show that the EMDs of finite set distributions do not
necessarily lead to consistent fusion of cardinality distributions. Indeed, we
demonstrate that these inconsistencies may occur with overwhelming probability
in practice, through examples with Bernoulli, Poisson and independent
identically distributed (IID) cluster processes. We prove that pointwise
consistency of EMDs does not imply consistency in global cardinality and vice
versa. Then, we redefine the variational problems underlying fusion and provide
iterative solutions thereby establishing a framework that guarantees
cardinality consistent fusion.Comment: accepted for publication in the IEEE Transactions on Aerospace and
Electronics System
Comprehensive review on controller for leader-follower robotic system
985-1007This paper presents a comprehensive review of the leader-follower robotics system. The aim of this paper is to find and elaborate on the current trends in the swarm robotic system, leader-follower, and multi-agent system. Another part of this review will focus on finding the trend of controller utilized by previous researchers in the leader-follower system. The controller that is commonly applied by the researchers is mostly adaptive and non-linear controllers. The paper also explores the subject of study or system used during the research which normally employs multi-robot, multi-agent, space flying, reconfigurable system, multi-legs system or unmanned system. Another aspect of this paper concentrates on the topology employed by the researchers when they conducted simulation or experimental studies
Bioinspired Coordinated Path Following for Vessels with Speed Saturation Based on Virtual Leader
This paper investigates the coordinated path following of multiple marine vessels with speed saturation. Based on virtual leader strategy, the authors show how the neural dynamic model and passivity-based techniques are brought together to yield a distributed control strategy. The desired path following is achieved by means of a virtual dynamic leader, whose controller is designed based on the biological neural shunting model. Utilizing the characteristic of bounded and smooth output of neural dynamic model, the tracking error jump is avoided and speed saturation problem is solved in straight path. Meanwhile, the coordinated path following of multiple vessels with a desired spatial formation is achieved through defining the formation reference point. The consensus of formation reference point is realized by using the synchronization controller based on passivity. Finally, simulation results validate the effectiveness of the proposed coordinated algorithm
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