Article
Automation & Control Systems
Tohid Kargar Tasooji, Horacio J. Marquez
Summary: In multirobot systems, accurate localization of each mobile robot is essential for achieving consensus. This article addresses the problem of event-triggered consensus control for a group of mobile robots based on cooperative localization (CL). An event-triggered mechanism using a mixed-type condition is proposed to reduce control updates and unnecessary information transmission. The goal is to design a consensus controller based on CL that ensures the desired consensus despite inaccurate sensor measurements. Eigenvalues and eigenvectors of the Laplacian matrix are used to provide sufficient conditions for the desired consensus. The controller, filter gains, and event-triggering mechanism parameters are designed simultaneously based on a solution to a linear matrix inequality. Simulation and experimental results demonstrate the effectiveness of the proposed approach.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Automation & Control Systems
Tohid Kargar Tasooji, Horacio J. Marquez
Summary: This article addresses the problem of decentralized event-triggered cooperative localization (DECL) for a group of mobile robots in the presence of time delays. It introduces a DECL algorithm for multirobot systems under time delays and considers two different scenarios: timestamped and non-timestamped. The article provides the stochastic boundedness of filtering error considering bounded random delays and shows that the filtering error and covariance remain bounded while reducing the transfer of information if the delay due to multirobot communication is sufficiently small. Simulation and experimental results using a team of four e-puck2 mobile robots demonstrate the effectiveness of the proposed algorithm.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Engineering, Civil
Xingling Shao, Jintao Zhang, Wendong Zhang
Summary: This paper presents a distributed cooperative surrounding control method for mobile robots with uncertainties and aperiodic sampling. The method combines cooperative circumnavigation guidance at the kinematic level and a robust anti-disturbance kinetic control protocol at the kinetic level. Aperiodic sampling based extended state observers are used to provide precise disturbance estimates and a nonnegative threshold-based event-triggering condition is designed for communication scheduling. The effectiveness of the algorithm is verified through simulations.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2022)
Article
Automation & Control Systems
Xiao Yu, Ji Ma, Ning Ding, Aidong Zhang
Summary: This paper investigates cooperative target enclosing of multiple unicycle-type mobile robots subject to input disturbances, developing a dynamic control law to tackle heterogeneous disturbances and proving global asymptotic stability in the presence of a large class of disturbance signals. Simulation results demonstrate the effectiveness of the approach.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2021)
Article
Engineering, Civil
Sooeon Lee, Seungheyon Lee, Hyunbum Kim
Summary: This paper introduces a secure framework for creating differential security barriers in IoT-assisted maritime transportation systems. Two different schemes are proposed to provide improved security detection in priority areas to fit with discriminative security levels. The performances of these methods are analyzed through various settings and scenarios.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2023)
Article
Materials Science, Multidisciplinary
Tae-Ho Kim, Jaydon Vanloo, Woo Soo Kim
Summary: The study focuses on the development of cooperative healthcare sensing robots that monitor and evaluate patients' muscle functions through gait analysis and electromyography. By integrating biological sensors and using a green strategy, the robots are designed with durable 3D origami structures for different applications in healthcare monitoring, such as insoles and humanoid hands. These robots show promise in providing convenient and quality care for patients through empathetic adaptability with humans.
ADVANCED MATERIALS TECHNOLOGIES
(2021)
Article
Robotics
Wilhelm J. Marais, Stefan B. Williams, Oscar Pizarro
Summary: Kinematically redundant vehicle manipulator systems can utilize continuous configuration space to improve disturbance rejection.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Engineering, Electrical & Electronic
Sihyung Joo, Honggu Kang, Joonhyuk Kang
Summary: This study focuses on a tethered unmanned aerial vehicle (TUAV)-assisted mobile edge computing (MEC) system to minimize the system delay of multiple ground mobile users (MUs). By optimizing TUAV position, time slot allocation, and task splitting ratio, the proposed CoSMoS algorithm outperforms benchmark schemes through decomposition, approximation, and alternative optimization techniques.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2021)
Article
Automation & Control Systems
Guozheng Lu, Wei Xu, Fu Zhang
Summary: In this article, a unified on-manifold MPC framework is proposed to address the issue of incorporating system manifold constraints naturally without overparameterization or singularity. The proposed scheme formulates MPC based on a canonical representation of on-manifold systems and solves it by linearizing the system at each point along the trajectory under tracking. The experimental results demonstrate the nonsingularity and tracking performance of the framework in tracking aggressive UAV trajectories.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Energy & Fuels
Bin Zhao, Cheng-dong Wu, Xue Zhao, Ruo-huai Sun, Yang Jiang
Summary: This paper proposes a hybrid navigation algorithm of reflector and laser based on the generalized inverse of the least squares solution for mobile robots in power inspection. The traffic rule reservation table generates a dynamic weighted map to solve the problem of multi-robot inspection cooperative path planning and prevent collisions. The dynamic weighted RRT algorithm is improved to achieve active cooperative path planning, reducing trajectory points and solving congestion.
Article
Automation & Control Systems
Boda Ning, Qing-Long Han, Qiang Lu, Jay Sanjayan
Summary: This article focuses on the cooperative control of double-integrator type multirobot systems with uncertain control gain. Three different collective behaviors are investigated, including leaderless consensus, leader-following consensus, and formation control. Novel continuous controllers are designed based on sliding variables to achieve finite-time state agreement and leader tracking. Experimental studies are conducted to demonstrate the effectiveness of the proposed controllers for formation control of nonholonomic mobile robots.
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
(2023)
Article
Mathematics, Interdisciplinary Applications
Saddam Gharab, Vicente Feliu Batlle
Summary: This work presents a new method for tuning fractional-order PI and PD controllers for robust control of delayed fractional-order underdamped processes. The concept of Robust High-Frequency Condition is introduced to analyze the stability and robustness of the closed-loop system. An application example demonstrates the effectiveness of the proposed method.
FRACTAL AND FRACTIONAL
(2023)
Article
Computer Science, Information Systems
Dianhan Xie, Xudong Wang, Aimin Tang, Hongzi Zhu
Summary: This article introduces a portable localization system (POLO) for mobile robots to locate RFID-tagged objects with high accuracy. By utilizing multipath signals and channel coefficient estimation mechanism, precise object localization is achieved. Experimental results demonstrate acceptable localization accuracy at different distance ranges.
IEEE INTERNET OF THINGS JOURNAL
(2022)
Review
Agronomy
Chris Lytridis, Vassilis G. Kaburlasos, Theodore Pachidis, Michalis Manios, Eleni Vrochidou, Theofanis Kalampokas, Stamatis Chatzistamatis
Summary: Agricultural robotics has become a hot topic in recent years due to its ability to address seasonal labor shortages and its potential to become a trend in agriculture production. However, the challenge lies in fully automating agricultural production to meet the growing population demands.
Article
Robotics
Yuxiao Chen, Ugo Rosolia, Aaron D. Ames
Summary: This research introduces a fully decentralized task and path planning framework for a multi-robot system, which includes task allocation and localized path planning modules. Each task is modeled as MDP or MOMDP, with the task allocation module aiming to maximize the expected net reward of the robotic team.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
