In this paper, we focus on the development of a quantitative performance analysis framework for a cooperative system of multiple wheeled mobile manipulators physically transporting a common payload. Each mobile manipulator module consists of a differentially driven wheeled mobile robot (WMR) with a mounted planar three-degree-offreedom (DOF) revolute-jointed manipulator. A composite cooperative...

Nonholonomic wheeled mobile robots are considered to be multi-input multi-output systems that performed in varying environments. This work presents the trajectory tracking control of a nonholonomic robot (WMR). The Kinematic and dynamic models were derived. A new hybrid controller was designed, which consisted two controllers based on an optimization algorithm solve problem. first is Fractional...

In this paper, a novel design and analysis of the dynamic game of the Hybrid Multi-Agent Robotic System (HMARS) is proposed for dealing with the formation problem of multiple robots with leaders and followers. Each autonomous agent is a wheeled mobile robot (WMR) with switching behaviors including target approach and obstacle avoidance. Under the well designed controller, an agent can perform f...

In this paper, the tracking control problem of a class of Euler-Lagrange systems subjected to unknown uncertainties is addressed and an adaptive-robust control strategy, christened as Time-Delayed Adaptive Robust Control (TARC) is presented. The proposed control strategy approximates the unknown dynamics through time-delayed logic, and the switching logic provides robustness against the approxi...

Nowadays, Wheeled Mobile Robots (WMRs) are built and the control system that used to control them are made by Electronic Engineers. Depend on their desire design of WMR, Technicians made used of Microcontrollers as controlling machines and DC Motors for motion control. Autonomous robotic vehicle guidance for indoor navigation has been developed for Mobile Industrial Robot model. The resulting d...

In this paper, we examine the design and selection of optimal configuration of a system of multiple, wheeled mobile manipulators that can team up to cooperatively transport a large common object. Each individually autonomous mobile manipulator consists of a differentially driven wheeled mobile robot (WMR) with a passive, two degree-of-freedom (d.o.f), planar revolute-jointed arm mounted in the ...

Recent advancements in mechatronics has led to tremendous development of application of robots for industrial applications involving high health hazards, rough working conditions and difficult to reach locations. Robot assisted welding is one such high risk operation for human being. The industrial arc welding robots are either mounted on the floor, table or on overhead rails. In this scenario,...

An investigation of the drying of spherical food particles was performed, using peas as the model material. In the development of a mathematical model for drying curves, moisture diffusion was modelled using Fick’s second law for mass transfer. The resulting partial differential equation was solved using a forward-time central-space finite difference approximation, with the assumption of variab...

Tight formation-based operations are critical in several emerging applications for robot collectives — ranging from cooperative payload transport to synchronized distributed data-collection. In this paper, we investigate the optimal relative layout for members of a team of Differentially-Driven Wheeled Mobile Robots (DD-WMRs) moving in formation for ultimate deployment in cooperative payload tr...

When the reference speakers are represented by Gaussian mixture model (GMM), the conventional approach is to accumulate the frame likelihoods over the whole test utterance and compare the results as in speaker identi®cation or apply a threshold as in speaker veri®cation. In this paper we describe a method, where frame likelihoods are transformed into new scores according to some non-linear func...