The SPL robot soccer league focuses its efforts on the development of robot control software for standard humanoid robots. Nevertheless, few interchange of software modules are observed in the league, being the B-Human effort an exception. In addition, a large difference in performance is observed between experienced teams and new teams. This situation makes difficult the incorporation of new t...

Today s robotics applications require complex real time high bandwidth sensor systems Although many such systems have been devel oped integrating them into an autonomous robot architecture remains an area of active research In this chapter we describe our behavior based active stereo vision system and how we integrated this system into a hybrid reactive deliberative robot control architecture T...

in this article a new and an accurate method for kinematic and dynamic analysis of a parallel robot 3prs and a hybrid robot (parallel and serial) 3prs-rrp are presented, which is based on the denavit-hartenberg transformation matrix algebra. first, basic properties of various kinds of robots are compared, and then the denavit-hartenberg parameters and their table are introduced. next, the metho...

There is presented a design of a sliding mode position control algorithm for the PUMA 560 robot position control. The Lagrange-Euler model of a robot is used for calculation of robot law. Computer simulations of the robot with the sliding mode control were performed. The presented control algorithm shows a good robustness with respect to the robot model uncertainty.

In this paper we consider the problem of simulating simple control laws involving large numbers of mobile robots. Such simulation can be computationally prohibitive if the number of robots is large enough, say 1 million, due to the U ( N 2 ) cost of each time step. This work therefore uses hierarchical tree-based methods for calculating the control law. These tree-based approaches have U(N1ogN)...

This paper presents an experimental analysis of a recently proposed decentralized control strategy, for collective circular motion of a team of nonholonomic vehicles. Theoretical results ensuring global asymptotic stability in the single-vehicle case and local asymptotic stability in the multi-vehicle scenario, are validated on an experimental setup including the mobile robots Pioneer 3AT and N...

The connection of the tractor to the inactive trailer or motor vehicle causes a motion control problem when turning in the screw, forward or backward movements and high speeds. This is due to the inactive trailer being controlled by the tracking using a physical link that is not affected by the movement. Trailers usually take tracks under these conditions. This phenomenon is called Jack Knife. ...