16,404 research outputs found
Multirobot heterogeneous control considering secondary objectives
Cooperative robotics has considered tasks that are executed frequently, maintaining the
shape and orientation of robotic systems when they fulfill a common objective, without taking
advantage of the redundancy that the robotic group could present. This paper presents a proposal
for controlling a group of terrestrial robots with heterogeneous characteristics, considering primary
and secondary tasks thus that the group complies with the following of a path while modifying its
shape and orientation at any time. The development of the proposal is achieved through the use
of controllers based on linear algebra, propounding a low computational cost and high scalability
algorithm. Likewise, the stability of the controller is analyzed to know the required features that have
to be met by the control constants, that is, the correct values. Finally, experimental results are shown
with di erent configurations and heterogeneous robots, where the graphics corroborate the expected
operation of the proposalThis research was funded by Corporación Ecuatoriana para el Desarrollo de la Investigación
y Academia–CEDI
On Small Satellites for Oceanography: A Survey
The recent explosive growth of small satellite operations driven primarily
from an academic or pedagogical need, has demonstrated the viability of
commercial-off-the-shelf technologies in space. They have also leveraged and
shown the need for development of compatible sensors primarily aimed for Earth
observation tasks including monitoring terrestrial domains, communications and
engineering tests. However, one domain that these platforms have not yet made
substantial inroads into, is in the ocean sciences. Remote sensing has long
been within the repertoire of tools for oceanographers to study dynamic large
scale physical phenomena, such as gyres and fronts, bio-geochemical process
transport, primary productivity and process studies in the coastal ocean. We
argue that the time has come for micro and nano satellites (with mass smaller
than 100 kg and 2 to 3 year development times) designed, built, tested and
flown by academic departments, for coordinated observations with robotic assets
in situ. We do so primarily by surveying SmallSat missions oriented towards
ocean observations in the recent past, and in doing so, we update the current
knowledge about what is feasible in the rapidly evolving field of platforms and
sensors for this domain. We conclude by proposing a set of candidate ocean
observing missions with an emphasis on radar-based observations, with a focus
on Synthetic Aperture Radar.Comment: 63 pages, 4 figures, 8 table
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