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TROB
2002
151views more  TROB 2002»
13 years 5 months ago
A control Lyapunov function approach to multiagent coordination
In this paper, the multiagent coordination problem is studied. This problem is addressed for a class of robots for which control Lyapunov functions can be found. The main result is...
Petter Ögren, Magnus Egerstedt, Xiaoming Hu
TROB
2002
126views more  TROB 2002»
13 years 5 months ago
Modeling and controllability for a class of hybrid mechanical systems
Abstract-- This work studies a class of hybrid mechanical systems that locomote by switching between constraints defining different dynamic regimes. We develop a geometric framewor...
Francesco Bullo, Milos Zefran
TROB
2002
118views more  TROB 2002»
13 years 5 months ago
The odometry error of a mobile robot with a synchronous drive system
This paper presents an error modeling of an odometry system for a synchronous-drive system and a possible strategy for evaluating this error. The odometry error is modeled by intro...
Agostino Martinelli
TROB
2002
84views more  TROB 2002»
13 years 5 months ago
Spatial stiffness realization with parallel springs using geometric parameters
Abstract--This paper investigates the synthesis of a spatial stiffness matrix using simple line springs. A new algorithm is developed, which enables the selection of constituent sp...
Kinkwan Choi, Shilong Jiang, Zexiang Li
TROB
2002
106views more  TROB 2002»
13 years 5 months ago
A dual neural network for bi-criteria kinematic control of redundant manipulators
A dual neural network is presented for the bi-criteria kinematic control of redundant manipulators. To diminish the discontinuity of minimum infinity-norm solutions, the kinematicc...
Yunong Zhang, Jun Wang, Yangsheng Xu
TROB
2002
106views more  TROB 2002»
13 years 5 months ago
Visual servoing of an under-actuated dynamic rigid-body system: an image-based approach
Abstract--A new image-based control strategy for visual servoing of a class of under-actuated rigid body systems is presented. The proposed control design applies to "eye-in-h...
Tarek Hamel, Robert E. Mahony
TROB
2002
132views more  TROB 2002»
13 years 5 months ago
Performance of a distributed robotic system using shared communications channels
We have designed and built a set of miniature robots called Scouts and have developed a distributed software system to control them. This paper addresses the fundamental choices we...
Paul E. Rybski, Sascha Stoeter, Maria L. Gini, Dea...