166 research outputs found
A general approach to coordination control of mobile agents with motion constraints
This paper proposes a general approach to design convergent
coordination control laws for multi-agent systems subject to
motion constraints. The main contribution of this paper is to prove
in a constructive way that a gradient-descent coordination control law
designed for single integrators can be easily modified to adapt for various
motion constraints such as nonholonomic dynamics, linear/angular
velocity saturation, and other path constraints while preserving the
convergence of the entire multi-agent system. The proposed approach is
applicable to a wide range of coordination tasks such as rendezvous and
formation control in two and three dimensions. As a special application,
the proposed approach solves the problem of distance-based formation
control subject to nonholonomic and velocity saturation constraints
Flow-Excited Turbine Rotor Instability
The problem of steam whirl is one of the technological limits that now prohibit the development of power-generating
turbomachinery substantially above GW. Due to steam flow, self-excited vibrations develop at high loads in the form of
stable limit cycles that, at even higher loads, deteriorate to chaotic vibration of high amplitude
Un élément fini de poutre fissurée application à la dynamique des arbres tournants
International audienceDans ce travail on présente une méthode originale de construction d'un élément fini de poutre affectée de fissurations. La souplesse additionnelle due à la présence des fissures est identifiée à partir de calculs éléments finis tridimensionnels tenant compte des conditions de contact unilatéral entre les lèvres. Cette souplesse est répartie sur toute la longueur de l'élément dont on se propose de construire la matrice de rigidité. La démarche permet un gain considérable en temps de calcul par rapport à la représentation nodale de la section fissurée lors de l'intégration temporelle de systèmes différentiels en dynamique des structures
Distributed Adaptive Attitude Synchronization of Multiple Spacecraft
This paper addresses the distributed attitude synchronization problem of
multiple spacecraft with unknown inertia matrices. Two distributed adaptive
controllers are proposed for the cases with and without a virtual leader to
which a time-varying reference attitude is assigned. The first controller
achieves attitude synchronization for a group of spacecraft with a leaderless
communication topology having a directed spanning tree. The second controller
guarantees that all spacecraft track the reference attitude if the virtual
leader has a directed path to all other spacecraft. Simulation examples are
presented to illustrate the effectiveness of the results.Comment: 13 pages, 11 figures. To appear in SCIENCE CHINA Technological
Science
Navigation of Distinct Euclidean Particles via Hierarchical Clustering
We present a centralized online (completely reactive) hybrid navigation algorithm for bringing a swarm of n perfectly sensed and actuated point particles in Euclidean d space (for arbitrary n and d) to an arbitrary goal configuration with the guarantee of no collisions along the way. Our construction entails a discrete abstraction of configurations using cluster hierarchies, and relies upon two prior recent constructions: (i) a family of hierarchy-preserving control policies and (ii) an abstract discrete dynamical system for navigating through the space of cluster hierarchies. Here, we relate the (combinatorial) topology of hierarchical clusters to the (continuous) topology of configurations by constructing “portals” — open sets of configurations supporting two adjacent hierarchies. The resulting online sequential composition of hierarchy-invariant swarming followed by discrete selection of a hierarchy “closer” to that of the destination along with its continuous instantiation via an appropriate portal configuration yields a computationally effective construction for the desired navigation policy
Robotic Wireless Sensor Networks
In this chapter, we present a literature survey of an emerging, cutting-edge,
and multi-disciplinary field of research at the intersection of Robotics and
Wireless Sensor Networks (WSN) which we refer to as Robotic Wireless Sensor
Networks (RWSN). We define a RWSN as an autonomous networked multi-robot system
that aims to achieve certain sensing goals while meeting and maintaining
certain communication performance requirements, through cooperative control,
learning and adaptation. While both of the component areas, i.e., Robotics and
WSN, are very well-known and well-explored, there exist a whole set of new
opportunities and research directions at the intersection of these two fields
which are relatively or even completely unexplored. One such example would be
the use of a set of robotic routers to set up a temporary communication path
between a sender and a receiver that uses the controlled mobility to the
advantage of packet routing. We find that there exist only a limited number of
articles to be directly categorized as RWSN related works whereas there exist a
range of articles in the robotics and the WSN literature that are also relevant
to this new field of research. To connect the dots, we first identify the core
problems and research trends related to RWSN such as connectivity,
localization, routing, and robust flow of information. Next, we classify the
existing research on RWSN as well as the relevant state-of-the-arts from
robotics and WSN community according to the problems and trends identified in
the first step. Lastly, we analyze what is missing in the existing literature,
and identify topics that require more research attention in the future
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