in this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. to this end, the dynamics model of the considered wheeled mobile robot is derived using lagrange equations of motion. then, using adams multi-body simulation software, the obtained dynamics of the wheeled system in matlab software is verified. after that, ...

in this paper a new method is proposed for path planning of planar manipulators amid obstacles through mathematical programming in a way that the robot’s links avoid collision with obstacles throughout their motion from an initial to a goal configuration. after inputting the workspace geometry, the shortest feasible path for the robot’s end-effector is planned toward its goal position using gen...

A core problem in Model Driven Engineering is model consistency achievement: all models must satisfy relationships constraining them. Active consistency techniques monitor and control models edition for preventing inconsistencies, e.g., using automatic errors correction. The main problem of these approaches is that strict enforcement of consistency narrows the modeler’s possibilities for explor...

We propose an entropic geometrical model of crowd behavior dynamics (with dissipative crowd kinematics), using Feynman action–amplitude formalism that operates on three synergetic levels: macro, meso and micro. The intent is to explain the dynamics of crowds simultaneously and consistently across these three levels, in order to characterize their geometrical properties particularly with respect...