In this work, we study cooperation in a heterogeneous swarm robotic system composed of wheeled and aerial robots. The wheeled robots are able to physically connect to one another autonomously and thus form collective robotic entities. The aerial robots have a privileged overview of the environment since they can fly and attach to metal ceilings. We present a system that enables spatially target...

Wheeled Mobile Robots (WMRs) are built with their Wheels’ drive machine, Motors. Depend on their desire design of WMR, Technicians made used of DC Motors for motion control. In this paper, the author would like to analyze how to choose DC motor to be balance with their applications of especially for WMR. Specification of DC Motor that can be used with desire WMR is to be determined by using MAT...

The accurate model-based servo-control of wheeled mobile robots (WMRs) relies upon the formulation of realistic kinematic and dynamic models. We* identify six special WMR characteristics (closed-chains, hig her-pair joints, unactuated and unsensed joints, friction, and pulse-width modulation) that require methodologies for modeling and control beyond those conventionally applied to stationary m...

This paper introduces error eliminating rapid ultrasonic$nng(EERUF), a new method for firing multiple ultrasonic sensors in mobilerobot applications. EERUF allows ultrasonic sensors to fire at ratesthat are five to ten times faster than those customary in conventionalapplications. This is possible because EERUF reduces the number oferroneous readings due to ultrasonic noise ...

This paper presents a modular method for 3D dynamic simulation of wheeled mobile robots (WMRs). Our method extends efficient dynamics algorithms based on spatial vector algebra to accommodate any articulated WMR configuration. In contrast to some alternatives, our method also supports complex, nonlinear wheel-ground contact models. Instead of directly adding contact forces, we solve for them in...

Tractor–trailer systems have been widely used to increase load transportation capacity. Control of these systems started from motion aid facilities in human-driven vehicles to fully autonomous mobile robots in recent years. In fact, tractor– trailer wheeled robot has been proposed as a modular robotic system in which an actuated mobile robot tows a passive trailer. This is a highly nonlinear un...