Guiding Vector Fields For Robot Motion Control
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Guiding Vector Fields For Robot Motion Control
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Author : Weijia Yao
language : en
Publisher: Springer Nature
Release Date : 2023-07-25
Guiding Vector Fields For Robot Motion Control written by Weijia Yao and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-07-25 with Technology & Engineering categories.
Using a designed vector field to guide robots to follow a given geometric desired path has found a range of practical applications, such as underwater pipeline inspection, warehouse navigation, and highway traffic monitoring. It is thus in great need to build a rigorous theory to guide practical implementations with formal guarantees. It is even so when multiple robots are required to follow predefined desired paths or maneuver on surfaces and coordinate their motions to efficiently accomplish repetitive and laborious tasks. The book introduces guiding vector fields on Euclidean spaces and Riemannian manifolds for single-robot and multi-robot path-following and motion coordination, provides rigorous theoretical guarantees of vector field guided motion control of robotic systems, and elaborates on the practical implementation of the proposed algorithms on mobile wheeled robots and fixed-wing aircraft. It provides guidelines for the robust, reliable, and safe practical implementations for robotic tasks, including path-following navigation, obstacle-avoidance, and multi-robot motion coordination. In particular, the book reveals fundamental theoretic underpinnings of guiding vector fields and applies to addressing various robot motion control problems. Notably, it answers many crucial and challenging questions such as: · How to generate a general guiding vector field on any n-dimensional Riemannian manifold for robot motion control tasks? · Do singular points always exist in a general guiding vector field? · How to generate a guiding vector field that is free of singular points? · How to design control algorithms based on guiding vector fields for different robot motion control tasks including path-following, obstacle-avoidance, and multi-robot distributed motion coordination? Answering these questions has led to the discovery of fundamental assumptions, a “topological surgery” to create a singularity-free guiding vector field, a robot navigation algorithm with the global convergence property, a provably safe collision-avoidance algorithm and an effective distributed motion control algorithm, etc
Guiding Vector Fields For Robot Motion Control
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Author :
language : en
Publisher:
Release Date : 2021
Guiding Vector Fields For Robot Motion Control written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021 with categories.
Advances In Guidance Navigation And Control
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Author : Liang Yan
language : en
Publisher: Springer Nature
Release Date : 2025-03-02
Advances In Guidance Navigation And Control written by Liang Yan and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2025-03-02 with Technology & Engineering categories.
This book features the latest theoretical results and techniques in the field of guidance, navigation, and control (GNC) of vehicles and aircrafts. It covers a wide range of topics, including but not limited to, intelligent computing communication and control; new methods of navigation, estimation, and tracking; control of multiple moving objects; manned and autonomous unmanned systems; guidance, navigation, and control of miniature aircraft; and sensor systems for guidance, navigation and control, etc. Presenting recent advances in the form of illustrations, tables, and text, it also provides detailed information of a number of the studies, to offer readers insights for their own research. In addition, the book addresses fundamental concepts and studies in the development of GNC, making it a valuable resource for both beginners and researchers wanting to further their understanding of guidance, navigation, and control.
Maritime Technology And Engineering Iii
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Author : Carlos Guedes Soares
language : en
Publisher: CRC Press
Release Date : 2016-12-01
Maritime Technology And Engineering Iii written by Carlos Guedes Soares and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-12-01 with Technology & Engineering categories.
Maritime Technology and Engineering 3 is a collection of papers presented at the 3rd International Conference on Maritime Technology and Engineering (MARTECH 2016, Lisbon, Portugal, 4-6 July 2016). The MARTECH Conferences series evolved from biannual national conferences in Portugal, thus reflecting the internationalization of the maritime sector. The keynote lectures and the papers, making up nearly 150 contributions, came from an international group of authors focused on different subjects in a variety of fields: Maritime Transportation, Energy Efficiency, Ships in Ports, Ship Hydrodynamics, Ship Structures, Ship Design, Ship Machinery, Shipyard Technology, afety & Reliability, Fisheries, Oil & Gas, Marine Environment, Renewable Energy and Coastal Structures. Maritime Technology and Engineering 3 will appeal to academics, engineers and professionals interested or involved in these fields.
Proceedings Of 2023 7th Chinese Conference On Swarm Intelligence And Cooperative Control
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Author : Xiaoduo Li
language : en
Publisher: Springer Nature
Release Date : 2024-06-14
Proceedings Of 2023 7th Chinese Conference On Swarm Intelligence And Cooperative Control written by Xiaoduo Li and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-06-14 with Technology & Engineering categories.
This book includes original, peer-reviewed research papers from the 2023 7th Chinese Conference on Swarm Intelligence and Cooperative Control (CCSICC2023), held in Nanjing, China on November 17-19, 2023. The topics covered include but are not limited to: reviews and discussions of swarm intelligence, basic theories on swarm intelligence, swarm communication and networking, swarm perception, awareness and location, swarm decision and planning, cooperative control, cooperative guidance, swarm simulation and assessment. The papers showcased here share the latest findings on theories, algorithms and applications in swarm intelligence and cooperative control, making the book a valuable asset for researchers, engineers, and university students alike.
Human In The Loop System Design And Control Adaptation For Behavior Assistant Robots
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Author : Yuquan Leng
language : en
Publisher: Frontiers Media SA
Release Date : 2024-06-03
Human In The Loop System Design And Control Adaptation For Behavior Assistant Robots written by Yuquan Leng and has been published by Frontiers Media SA this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-06-03 with Science categories.
With the progress and development of human-robot systems, the coordination among humans, robots, and environments has become increasingly sophisticated. In this Research Topic, we focus on an important field in robotics and automation disciplines, which is commonly defined as behavior-assistant robots. The scope includes but is not limited to: (1) rehabilitation assistive devices, such as rigid/soft exoskeletons, prosthetic systems, orthoses, and intelligent wheelchairs; (2) intelligent medical systems, such as endoscopic robots, surgical robots, and the navigation systems; (3) industrial application devices, such as collaborative manipulators, load-bearing exoskeletons, supernumerary robotic limbs; (4) intelligent domestic devices, such as mobile robots, elderly-care robots, walking-aids robots and so on. The emergence of robot-assisted daily behaviors, based on aforementioned devices, is gradually becoming part of our social lives, which can improve weak motor abilities, enhance physical functionalities, and enable various other benefits.
Advanced Control Methods In Marine Robotics Applications
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Author : Fabio Bonsignorio
language : en
Publisher: Frontiers Media SA
Release Date : 2021-06-09
Advanced Control Methods In Marine Robotics Applications written by Fabio Bonsignorio and has been published by Frontiers Media SA this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-06-09 with Technology & Engineering categories.
Numerical Optimization
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Author : Udayan Bhattacharya
language : en
Publisher: Educohack Press
Release Date : 2025-02-20
Numerical Optimization written by Udayan Bhattacharya and has been published by Educohack Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2025-02-20 with Science categories.
"Numerical Optimization: Theories and Applications" is a comprehensive guide that delves into the fundamental principles, advanced techniques, and practical applications of numerical optimization. We provide a systematic introduction to optimization theory, algorithmic methods, and real-world applications, making it an essential resource for students, researchers, and practitioners in optimization and related disciplines. We begin with an in-depth exploration of foundational concepts in optimization, covering topics such as convex and non-convex optimization, gradient-based methods, and optimization algorithms. Building upon these basics, we delve into advanced optimization techniques, including metaheuristic algorithms, evolutionary strategies, and stochastic optimization methods, providing readers with a comprehensive understanding of state-of-the-art optimization methods. Practical applications of optimization are highlighted throughout the book, with case studies and examples drawn from various domains such as machine learning, engineering design, financial portfolio optimization, and more. These applications demonstrate how optimization techniques can effectively solve complex real-world problems. Recognizing the importance of ethical considerations, we address issues such as fairness, transparency, privacy, and societal impact, guiding readers on responsibly navigating these considerations in their optimization projects. We discuss computational challenges in optimization, such as high dimensionality, non-convexity, and scalability issues, and provide strategies for overcoming these challenges through algorithmic innovations, parallel computing, and optimization software. Additionally, we provide a comprehensive overview of optimization software and libraries, including MATLAB Optimization Toolbox, Python libraries like SciPy and CVXPY, and emerging optimization frameworks, equipping readers with the tools and resources needed to implement optimization algorithms in practice. Lastly, we explore emerging trends, future directions, and challenges in optimization, offering insights into the evolving landscape of optimization research and opportunities for future exploration.
Control Of Marine Vehicles
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Author : Karl Dietrich von Ellenrieder
language : en
Publisher: Springer Nature
Release Date : 2021-06-21
Control Of Marine Vehicles written by Karl Dietrich von Ellenrieder and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-06-21 with Technology & Engineering categories.
This textbook offers a comprehensive introduction to the control of marine vehicles, from fundamental to advanced concepts, including robust control techniques for handling model uncertainty, environmental disturbances, and actuator limitations. Starting with an introductory chapter that extensively reviews automatic control and dynamic modeling techniques for ocean vehicles, the first part of the book presents in-depth information on the analysis and control of linear time invariant systems. The concepts discussed are developed progressively, providing a basis for understanding more complex techniques and stimulating readers’ intuition. In addition, selected examples illustrating the main concepts, the corresponding MATLAB® code, and problems are included in each chapter. In turn, the second part of the book offers comprehensive coverage on the stability and control of nonlinear systems. Following the same intuitive approach, it guides readers from the fundamentals to more advanced techniques, which culminate in integrator backstepping, adaptive and sliding mode control. Leveraging the author’s considerable teaching and research experience, the book offers a good balance of theory and stimulating questions. Not only does it provide a valuable resource for undergraduate and graduate students; it will also benefit practitioners who want to review the foundational concepts underpinning some of the latest advanced marine vehicle control techniques, for use in their own applications.
Introduction To Mobile Robot Control
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Author : Spyros G Tzafestas
language : en
Publisher: Elsevier
Release Date : 2013-10-03
Introduction To Mobile Robot Control written by Spyros G Tzafestas and has been published by Elsevier this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-10-03 with Technology & Engineering categories.
Introduction to Mobile Robot Control provides a complete and concise study of modeling, control, and navigation methods for wheeled non-holonomic and omnidirectional mobile robots and manipulators. The book begins with a study of mobile robot drives and corresponding kinematic and dynamic models, and discusses the sensors used in mobile robotics. It then examines a variety of model-based, model-free, and vision-based controllers with unified proof of their stabilization and tracking performance, also addressing the problems of path, motion, and task planning, along with localization and mapping topics. The book provides a host of experimental results, a conceptual overview of systemic and software mobile robot control architectures, and a tour of the use of wheeled mobile robots and manipulators in industry and society. Introduction to Mobile Robot Control is an essential reference, and is also a textbook suitable as a supplement for many university robotics courses. It is accessible to all and can be used as a reference for professionals and researchers in the mobile robotics field. - Clearly and authoritatively presents mobile robot concepts - Richly illustrated throughout with figures and examples - Key concepts demonstrated with a host of experimental and simulation examples - No prior knowledge of the subject is required; each chapter commences with an introduction and background