Consensus dynamics is one of the most popular multi-agent dynamical systems. It shows up in socio-economic contexts as a model for consensus formation in a society of individuals. In the engineering world, it has been considered as a basic algorithm to be employed in networks of agents (sensors, vehicles, etc.) for efficient distributive computation of global functions. In this survey we review...

This paper proposes a hierarchical formation stabilization method for vehicles having nonlinear dynamics. Supposing that the formation control problem is already solved for the case of linear vehicle dynamics, the method proposes a dynamic inversion based low-level control, which linearizes, at least approximately, the original vehicle dynamics so that the formation control can be applied. In t...

Unmanned Aerial Vehicles (UAVs) are being deployed in a vast variety of military, civilian, industrial and agricultural applications. Dynamics modeling is an essential step towards designing autonomous controllers for UAV systems. The dynamics modeling on the other hand requires accurate records of the UAVs motion states during real flight tests, this is usually achieved using Inertial Measurem...

A nonlinear adaptive framework for bounded-error tracking control of a class of non-minimum phase marine vehicles is presented. The control algorithm relies on a special set of tracking errors to achieve satisfactory tracking performance while guaranteeing stable internal dynamics. First, the design of a model-based nonlinear control law, guaranteeing asymptotic stability of the error dynamics,...

The role of virtual environments (VE) is crucial in efficient design and operation of unmanned vehicles. VEs are extensively used in operator training for tele-operation, planning using programming by demonstration, and hardware and software design. VE for unmanned sea surface vehicles (USSV) requires a six degree of freedom dynamics simulation in the time domain. In order to be interactive, th...

The primary purpose of longitudinal safety barriers, such as cable barriers, is to contain and/or redirect errant vehicles that depart the roadway, hence keeping them from entering opposing travel lanes or encountering terrain features and roadside objects that may cause severe impacts. In this paper, vehicle dynamics analysis is used to study the effect of median configuration and cable barrie...

Learning and adaptivity will play a large role in robotics in the future, as robots transition from unstructured to unstructured environments that cannot be fully predicted or understood by the designer. Two questions that are open are how much it is possible to learn, and how much we should learn. The goal of bootstrapping is creating agents that are able to learn everything from scratch, incl...

When introducing commercial driving simulators a few years ago, the main interest was focused either on operating the vehicle or on the reactions of the driver in traffic and in emergency situations. A comprehensive modeling of the vehicle dynamics was not required for these tasks. However, there are driving simulator applications which make much higher demands on the modeling of the vehicle dy...

Taking as examples of South Gate tunnel project and Metro Line 2 crossing project in Xi’an, this paper analyses the dynamic response of motor vehicle and train loads acting on a tunnel structure .based on finite element model of three-dimensional dynamics. By comprehensive use of load numerical fixation method and analytic formula method, the vibrating load curves of motor vehicle and subway tr...