Wireless Mesh Network (WMN) is surely one of the prominent networks in modern era which widely used numerous evolving applications, viz. broadband home networking (BHN), community and neighbourhood (CNN), coordinated network management (CNM), intelligent transportation systems (ITS), etc. It a wireless (WN) with multi-hop formed by many fixed mesh routers (WMR) that are connected wirelessly mes...

This work addresses the implementation issue of constrained Model Predictive Control (MPC) for the autonomous trajectory-tracking problem. The chosen process to control is a Wheeled Mobile Robot (WMR) described by a discrete, Multiple Input Multiple Output (MIMO), state-space and linear parameter varying kinematic model. The main motivation of the constrained MPC usage in this case relies on it...

Mobile robot navigation has remained an open problem over the last two decades. Mobile robots are required to navigate in unknown and dynamic environments, and in recent years the use of mobile robots in material handling has considerably increased. Usually workers push carts around warehouses and manually handle orders which is not very cost‐effective. To this e...

A challenging problem faced by wheeled mobile robots (WMRs) such as planetary rovers traversing loose sloped terrain is the inevitable longitudinal slip suffered by the wheels, which often leads to their deviation from the predetermined trajectory, reduced drive efficiency, and possible failures. This study investigates this problem using terramechanics analysis of the wheel-soil interaction. F...

This paper deals with the structure of the kinematic models of wheeled mobile robots (WMR). A wheeled mobile robot here considered as a planer rigid body that rides on an arbitrary number of wheels. In this paper it is shown that, for a large class of possible configurations of wheels, five types of configurations can be done namely i) fixed standard wheels, ii) steerable standard wheels, iii) ...

In order to solve the problem of parameter uncertainty and unknown external interference wheeled mobile robots (WMR) in a complex environment, design high-precision interval observer for robot system is proposed. this paper, kinematics dynamics model derived first, then control strategy introduced estimate compensate state real-time, which realizes robustness disturbance high adaptability envir...

Abstract The Unified Modelling Language (UML) is a language for specifying, visualizing, constructing, and documenting the artefacts of software systems, as well as for modelling business and other non-software systems. The UML represents a collection of best engineering practices that succeeded in modelling large and complex systems; it is interesting to envision its extension for specificatio...

This paper presents a multisine approach for trajectory optimization based on information gain, with distance and orientation sensing to known beacons. It addresses the problem of active sensing, i.e. the selection of a robot motion or sequence of motions, which make the robot arrive in its desired goal configuration (position and orientation) with maximum accuracy, given the available sensor i...

Most fielded wheeled mobile robots (WMRs) today use basic 2D kinematic motion models in their planning, control, and estimation systems. On uneven or low traction terrain, or during aggressive maneuvers, higher fidelity models are required which account for suspension articulations, wheel slip, and liftoff. In this paper we present a simple, algorithmic method to construct 3D kinematic models f...

We give a probabilistic algorithm for Consensus Sequence, a NP-complete subproblem of motif recognition, that can be described as follows: given set of l-length sequences, determine if there exists a sequence that has Hamming distance at most d from every sequence. We demonstrate that distance between a randomly selected majority sequence and a consensus sequence decreases as the size of the da...