Articulated Wheeled Robot (AWR) locomotion systems consist of a chassis connected to sets of wheels through articulated linkages. Such articulated ”legwheel systems” facilitate reconfigurability that has significant applications in many arenas, but also engender constraints that make the design, analysis and control difficult. In this paper we study this class of systems in the context of desig...

In this paper several interfaces for teleoperation of a mobile robot are described and analyzed. We consider teleoperation of a wheeled mobile robot when control commands are given by human operator through a haptic master device. Described human-robot teleoperation interfaces were tested by performing experiments. Main objective was to verify the role of different types of feedback information...

We present a control framework for achieving encirclement of a 3D target using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their effectiveness is formally established. An extension ensuring maintenance of a safe inter-robot distance is also discussed. The proposed framework is fully decentralized and onl...

Most RF beacons-based mobile robot navigation techniques rely on approximating line-of-sight (LOS) distances between the beacons and the robot. This is mostly performed using the robot's received signal strength (RSS) measurements from the beacons. However, accurate mapping between the RSS measurements and the LOS distance is almost impossible to achieve in reverberant environments. This paper ...

This paper presents a study of energy efficiency and kinematic-based optimal design locomotion pneumatic artificial muscle (PAM)-driven snake-like robot. Although robots have several advantages over wheeled track-wheeled mobile robots, their low energy-locomotion has limited applications in long-range outdoor fields. work continues our previous efforts designing prototyping muscle-driven robot ...

We examine how fast the estimation error grows with time when a mobile robot/vehicle estimates its location from relative pose measurements without global position or orientation sensors. We show that both bias and variance of the position estimation error grows at most linearly with time (or distance traversed) asymptotically. The bias growth rate is crucially dependent on the trajectory of th...

This paper aims to investigate the formation control of multi-robot systems, where the kinematic model of a differentially driven wheeled mobile robot is considered. Based on the graph-theoretic concepts and locally distributed information, an adaptive neural fuzzy formation controller is designed with the capability of on-line learning. The learning rules of controller parameters can be derive...

This paper derives a hybrid control law for an extended nonholonomic double integrator (ENDI) that captures the dynamics of a wheeled robot subject to force and torque inputs. A simple logic-based hybrid controller is proposed which yields global stability and convergence of the closed-loop system to an arbitrarily small neighborhood of the origin. This is achieved by mapping the state-space in...

This paper describes the Clpplication of a model of operant conditioning to the prohlcrn of obstacle avoidance \Vith a wheeled mobile robot. The main characteristic of the 8pplicd model is that the robot learns to avoid obstacles through a learning-by-doing cycle without external supervision. A series of ultrasonic sensors aetas Conditioned Stimuli (CS), while collisions act as an Unconditioned...

The wheeled mobile robot is a nonlinear system. The trajectory tracking control problem is solved using the sliding mode control. In this paper four control laws are modeled and the system performances are investigated. The sliding mode control laws for the trajectory tracking problem are simulated and then implemented on the PatrolBot Robot. The performances are analyzed in order to establish ...