Neuro-Adaptive Cooperative Tracking Rendezvous of Nonholonomic Mobile Robots

This brief proposes a neuro-adaptive method for the unsolved problem of cooperative tracking rendezvous of nonholonomic mobile robots (NMRs) subject to uncertain and unmodelled dynamics. A hierarchical cooperative control framework is proposed, which consists of a novel distributed estimator along with local neuro-adaptive tracking...

Planning Jerk-Optimized Trajectory with Discrete Time Constraints for Redundant Robots

We present a method for effectively planning the motion trajectory of robots in manufacturing tasks, the tool paths of which are usually complex and have a large number of discrete time constraints as waypoints. Kinematic redundancy also exists in these robotic systems. The jerk of motion is optimized in our trajectory planning method at the...

EasySRRobot: An Easy-to-Build Self-Reconfigurable Robot with Optimized Design

Self-reconfigurable modular robots (SRRobot) that can change their shape and function in different environments according to different tasks have caught a lot of attention recently. Most existing prototypes use professional electronic components with relatively expensive cost and high barrier of fabrication. In this paper, we present a low-cost...

Steering Micro-Robotic Swarm by Dynamic Actuating Fields

We present a general solution for steering microrobotic<br/>swarm by dynamic actuating fields. In our approach, the<br/>motion of micro-robots is controlled by changing the actuating<br/>direction of a field applied to them. The time-series sequence<br/>of actuating field’s directions can be computed automatically.<br/>Given a target position in...