Article
Computer Science, Artificial Intelligence
Bong Seok Park, Sung Jin Yoo
Summary: This study presents a performance-guaranteed leader-follower formation tracking strategy for multiple nonholonomic mobile robots to maintain connectivity, avoid collisions, and obstacles. By defining desired relative angles and performance functions, stable connections among robots are achieved while avoiding collisions.
EXPERT SYSTEMS WITH APPLICATIONS
(2021)
Article
Mathematics
Amirreza Parvareh, Mojtaba Naderi Soorki, Aydin Azizi
Summary: This paper addresses the problem of formation control for leader-follower mobile robots in the presence of disturbances and model uncertainties. A robust adaptive controller is designed to handle the uncertainties and stabilize the system. The paper also considers second-order models for accelerated robots and obstacles, and addresses the challenge of avoiding moving obstacles using a leader-leader model.
Article
Automation & Control Systems
Zhao-Qing Liu, Xiaohua Ge, Hao Xie, Qing-Long Han, Jinchuan Zheng, Yu-Long Wang
Summary: This article focuses on the problem of leader-follower formation control of multiple networked mobile robots in the presence of replay attacks. It proposes an effective secure control scheme that can achieve the desired formation control objectives regardless of the simultaneous presence of replay attacks, network-induced delays, system uncertainties, and external disturbances.
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
(2023)
Article
Thermodynamics
Shinsuke Oh-Hara, Atsushi Fujimori
Summary: This paper presents the application of robustness method in formation control of multiple mobile robots. The robust stability conditions against the relative state error are derived by considering the measured error in the relative state. The formation steady-state deviation is also obtained when formation stability is ensured. Numerical simulation is conducted to demonstrate the validity of the stability condition and the steady-state deviation.
ADVANCES IN MECHANICAL ENGINEERING
(2023)
Article
Automation & Control Systems
Gholamreza Khodamipour, Saeed Khorashadizadeh, Mohsen Farshad
Summary: This paper proposes a formation controller for leader-follower mobile robots based on reinforcement learning and Fourier series expansion. The controller is designed using the dynamical model of the robots, which includes DC motors as actuators. The control signals are designed based on the actor-critic strategy in reinforcement learning. Stability analysis confirms the global asymptotic stability of the closed-loop system. The Fourier series expansion is chosen to construct the actor and critic, providing a simpler alternative to neural networks with fewer tuning parameters. Simulation results show that the proposed controller performs better than radial basis function neural networks in reducing tracking errors.
Article
Computer Science, Artificial Intelligence
A. G. Sanchez-Sanchez, E. G. Hernandez-Martinez, J. Gonzalez-Sierra, M. Ramirez-Neria, J. J. Flores-Godoy, E. D. Ferreira-Vazquez, G. Fernandez-Anaya
Summary: This paper proposes a power-based formation control method for differential-drive mobile robots, which extends the traditional distance-based formation control schemes. The Received Signal Strength Indicator (RSSI) measurements, together with the non-omnidirectional radiation pattern shape of the antennas, are used as a feedback signal. A switched control scheme is designed to address the non-holonomic restriction in the kinematic model, with two control laws to avoid singularities and ensure a smooth transition between control inputs. This approach provides a foundation for coverage control in mobile sensor networks, where the wireless nodes installed on the robots need to converge to desired power level values. The RSSI measurement can also serve as an alternative to inter-robot distances, eliminating the need for traditional sensors such as LiDAR or onboard cameras. The effectiveness of the proposed approach is validated through experiments.
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
(2023)
Article
Chemistry, Multidisciplinary
Xingtong Chen, Qiang Lu, Dilong Chen, Boyuan Geng
Summary: This article proposes a new method to address signal source localization by combining temporal logic planning and receding horizon control approach, which can effectively achieve signal source positioning. This method, based on product automaton, utilizes a particle filter to predict signal source positions to generate robot trajectories that satisfy specifications.
APPLIED SCIENCES-BASEL
(2022)
Article
Computer Science, Information Systems
Junseok Boo, Dongkyoung Chwa
Summary: This paper proposes a leader-follower formation control method based on fuzzy integral sliding mode observer (FISMO) using ceiling-mounted camera information for mobile robots. It can handle kinematic disturbance and the lack of velocity information for the leader and follower robots.
Article
Automation & Control Systems
Zipeng Huang, Robert Bauer, Ya-Jun Pan
Summary: This article addresses the distributed event-triggered leader-follower formation tracking control problem of general linear multiagent systems with a dynamic leader in sampled-data settings. A novel locally computable state-estimate-based event generator is established for each follower agent to regulate the interagent communication at each sampling instant. Then, a distributed formation tracking protocol based on the triggered sampled information is proposed, which formulates the formation tracking control problem as a stability-analysis problem of the closed-loop formation error dynamics. The event generator and formation tracking controller gains are co-designed using feasible linear matrix inequality conditions derived from Lyapunov-based stability-analysis methods that guarantee the ultimate boundedness of the closed-loop formation error dynamics.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Computer Science, Artificial Intelligence
Sathishkumar Moorthy, Young Hoon Joo
Summary: This paper investigates the distributed leader-following formation control problem for multiple nonholonomic wheeled mobile robots using a bioinspired neurodynamic approach. A distributed estimator is developed for each follower robot to estimate the leader's states. A formation tracking control law is proposed for each follower robot based on the estimated states of the leader. A bioinspired neurodynamics-based backstepping controller is designed to solve the impractical velocity jumps problem. The sufficient conditions for asymptotic stability of the multiple mobile robot system are derived using a Lyapunov function-based approach. Simulation results demonstrate the effectiveness of the proposed controllers.
Article
Automation & Control Systems
Jie Lin, Zhiqiang Miao, Hang Zhong, Weixing Peng, Yaonan Wang, Rafael Fierro
Summary: This article addresses the problem of leader-follower formation control of mobile robots using only onboard monocular cameras subjected to visibility constraints. An adaptive image-based visual servoing control strategy was proposed and demonstrated to have advantages over other schemes through numerical simulations and hardware experiments.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2021)
Article
Automation & Control Systems
Xiao Min, Simone Baldi, Wenwu Yu
Summary: This article studies the control of a leader-follower pair of nonholonomic systems in the presence of formation constraints such as communication, feasibility, and performance constraints. It provides an asymptotic result via a properly designed funnel technique, and comparative study with the state of the art illustrates the benefits of the proposed method.
IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS
(2023)
Article
Automation & Control Systems
Zhiqiang Miao, Hang Zhong, Yaonan Wang, Hui Zhang, Haoran Tan, Rafael Fierro
Summary: This article proposes a solution for formation control of mobile robots based on image, using a monocular camera and complying with field-of-view constraints. A low-complexity image-based visual servo controller is introduced to achieve desired relative position on the image plane and solve FOV constraints. The effectiveness and performance of the proposed controller are verified through simulations and experiments.
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
(2022)
Article
Automation & Control Systems
Shi-Lu Dai, Ke Lu, Xu Jin
Summary: This article presents a fixed-time leader-follower formation control protocol for unicycle-type mobile robots, considering visibility and performance constraints to ensure the effectiveness of the formation control. The control protocol uses onboard cameras and applies time-varying and asymmetric performance constraints to guarantee transient and steady-state performance.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2021)
Article
Engineering, Marine
Linling Wang, Xiaoyan Xu, Bing Han, Huapeng Zhang
Summary: In this paper, a multi-autonomous underwater vehicle (multi-AUV) formation control method with obstacle avoidance ability in 3D complex underwater environments based on an event-triggered model predictive control (EMPC) is proposed. The effectiveness and superiority of the proposed algorithm are confirmed via simulation and compared with those of other algorithms.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2023)
Article
Engineering, Multidisciplinary
Wendi Gao, Zhixia Qiao, Xiangguang Han, Xiaozhang Wang, Adnan Shakoor, Cunlang Liu, Dejiang Lu, Ping Yang, Libo Zhao, Yonglu Wang, Jiuhong Wang, Zhuangde Jiang, Dong Sun
Summary: This paper presents the development of a novel micro force sensor based on a laterally movable gate field-effect transistor (LMGFET) and proposes a precise electrical model for performance evaluation. A sandwich structure composed of a gold cross-axis decoupling gate array layer and two soft photoresistive SU-8 layers is utilized. The proposed LMGFET-based force sensor demonstrates excellent force-sensing potential for biomedical micromanipulation applications.
Article
Automation & Control Systems
Yuanjun Jia, Liushuai Zheng, Dingran Dong, Yong Wang, Dong Sun
Summary: The research introduces a robust control method for microrobot navigation to overcome hysteresis influence, utilizing techniques such as the Prandtl-Ishlinskii (PI) model and adaptive sliding mode control (ASMC) to ensure stability and accuracy. This approach aims to advance the field of microrobot navigation for in vivo applications.
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
(2022)
Article
Engineering, Biomedical
Ruofeng Wei, Bin Li, Hangjie Mo, Bo Lu, Yonghao Long, Bohan Yang, Qi Dou, Yunhui Liu, Dong Sun
Summary: This paper proposes a learning-driven framework for image-guided laparoscopic localization and 3D reconstruction of anatomical structures. The method includes a deep perception method for depth estimation and a dense reconstruction algorithm to represent the scene. Experimental results show the superior performance of the proposed method in anatomy reconstruction and laparoscopic localization.
IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING
(2023)
Article
Automation & Control Systems
Yingxin Huo, Xiang Li, Xuan Zhang, Xiu Li, Dong Sun
Summary: This article presents an adaptive intention-driven variable impedance controller for wearable robots, which estimates human motion intention and regulates the dynamic interaction between the human and the robot. The proposed controller improves estimation accuracy and enables safe and efficient interaction.
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
(2023)
Article
Automation & Control Systems
Lin Hou, Yong Peng, Dong Sun
Summary: This study proposes a hybrid framework that incorporates a stochastic approach and an integrated optimization strategy to improve train crashworthiness and reduce passenger crash injuries. The stochastic approach evaluates the statistic characteristics of system responses and quantifies the contribution ranking of uncertain parameters to response variations. The optimization strategy solves the nonuniqueness of Pareto optimal solutions and improves the passive safety of the railway industry.
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
(2023)
Article
Robotics
Qiqiang Hu, Erbao Dong, Dong Sun
Summary: The article introduces a soft modular climbing robot called Smcbot, which demonstrates good adaptability and motion capability on different surface environments. The robot is assembled based on soft body modules and feet modules, providing large-scale motion and high output load, and its performance is verified through theoretical models and experiments.
IEEE TRANSACTIONS ON ROBOTICS
(2023)
Article
Engineering, Biomedical
Shuxun Chen, Zhiwu Tan, Pan Liao, Yanfang Li, Yun Qu, Qi Zhang, Mingxuan Yang, Kannie Wai Yan Chan, Li Zhang, Kwan Man, Zhiwei Chen, Dong Sun
Summary: This study reports the fabrication of biocompatible and biodegradable GelMA microrobots through two-photon polymerization, and demonstrates programmed degradation and drug release by varying the local exposure dose. The GelMA microspheres are further functionalized for the delivery of DNA vaccines to dendritic cells and primary cells, leading to fast, enhanced, and durable antigen expression in mice.
ADVANCED HEALTHCARE MATERIALS
(2023)
Article
Robotics
Qiqiang Hu, Junyang Li, Erbao Dong, Dong Sun
Summary: This letter introduces a soft and scalable crawling robot with active adaptability to various surfaces. The robot consists of a programmable origami body and electrostatic pads for adhesion. Different cross-sectional shapes of the origami body and incorporated artificial muscles allow the robot to perform multimodal movements. Additionally, the robot can manipulate objects using a lightweight soft origami gripper.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Automation & Control Systems
Wendi Gao, Cunlang Liu, Xiangguang Han, Libo Zhao, Qijing Lin, Zhuangde Jiang, Dong Sun
Summary: This work proposes a high-resolution microelectromechanical system capacitive force sensor for measuring ultralow multiphysics. By designing a bionic swallow structure with multiple feathered comb arrays, the chip dimension is reduced and the undesirable mechanical cross-coupling effect is eliminated. The comb structure is optimized for maximum sensitivity, linearity, and compact chip size. A novel interconnection configuration is utilized to minimize interferences from parasitic capacitance and electrostatic forces. The proposed sensor demonstrates significant improvement over existing capacitive sensors and is feasible for ultralow multiphysics measurement in biomedical applications.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Biochemical Research Methods
Yang Jiao, Fei Pan, Shuxun Chen, Zhangyan Guan, Dong Sun
Summary: This paper reports a new method to produce a genetically engineered macrophage cell line with enhanced immunity through microinjection. By injecting an expression plasmid carrying the Tlr4 gene into a mouse macrophage cell line, a new stable cell line overexpressing the target gene can be constructed. The injected macrophages showed enhanced inhibition effect on tumor cell migration and invasion through activation of downstream signaling pathways.
IEEE TRANSACTIONS ON NANOBIOSCIENCE
(2023)
Article
Chemistry, Multidisciplinary
Yanfang Li, Dingran Dong, Yun Qu, Junyang Li, Shuxun Chen, Han Zhao, Qi Zhang, Yang Jiao, Lei Fan, Dong Sun
Summary: This paper presents the development of a biodegradable microrobot for on-demand multidrug delivery. By combining magnetic targeting transportation with tumor therapy, the microrobot enhances the synergistic effect of multiple drugs for cancer treatment. The microrobot consists of a 3D-printed structure with hydrogel components for drug storage and controlled release. In vivo studies show that the microrobots improve tumor inhibition and induce a response to anti-angiogenesis. This versatile microrobot provides a promising approach for effective combination therapy in cancer treatment.
Article
Engineering, Mechanical
Wendi Gao, Bian Tian, Cunlang Liu, Yingbiao Mi, Chen Jia, Libo Zhao, Tao Liu, Nan Zhu, Ping Yang, Qijing Lin, Zhuangde Jiang, Dong Sun
Summary: In this work, a bionic swallow structure design norm was developed to achieve mechanical decoupling, and a bionic feather comb distribution strategy and a portable readout circuit were proposed to eliminate electrostatic interferences. The sensor exhibited high sensitivity and resistance to disturbances, making it suitable for ultralow biophysical force measurement.
FRONTIERS OF MECHANICAL ENGINEERING
(2023)
Article
Automation & Control Systems
Adnan Shakoor, Mingyang Xie, Wendi Gao, Muhammad Majid Gulzar, Jiayu Sun, Dong Sun
Summary: Mitochondrial dysfunction is significant in fatal diseases like aging, cancer, and Alzheimer's. This article presents a novel technique using a robot-aided microneedle and optical tweezers-based micromanipulation system to control the quality and quantity of mitochondria injected into single live cells. The system successfully transfers healthy mitochondria into single live cells while precisely controlling the quantity and quality of injected mitochondria.
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
(2023)
Article
Automation & Control Systems
Xiaowen Kong, Hangjie Mo, Erbao Dong, Yunhui Liu, Dong Sun
Summary: In the existing surgery process, manual adjustment of laparoscopes by surgeons during operation can be distracting and slow down the process. This study presents a data-driven control method that uses a continuum laparoscope to automatically adjust the field of view by tracking surgical instruments. The proposed method achieves higher detection precision and provides more optional keypoints for tracking compared to other methods, as validated by simulation and experiments.
ADVANCED INTELLIGENT SYSTEMS
(2023)
Article
Automation & Control Systems
Chunqi Zhang, Hangjie Mo, Liushuai Zheng, Han Zhao, Gang Feng, Dong Sun
Summary: This paper proposes a liquid-driven laser scanner for tissue ablation and precise manipulation during surgery. The scanner is miniaturized, operates at a low driving voltage, and is suitable for confined spaces. Experimental and theoretical results demonstrate its effectiveness and stability in laser steering.
ADVANCED INTELLIGENT SYSTEMS
(2023)
