Related papers: Fuzzy-based Navigation and Control of a Non-Holono…
This paper investigates fuzzy nonlinear system equations using an optimization approach. Here, the inner-outer direct search technique is used with fuzzy coefficients and vectors to quantify the uncertain solution. The fuzzy nonlinear…
A fuzzy controller is usually designed by formulating the knowledge of a human expert into a set of linguistic variables and fuzzy rules. Among the most successful methods to automate the fuzzy controllers development process are…
Dynamic control of a soft-body robot to deliver complex behaviors with low-dimensional actuation inputs is challenging. In this paper, we present a computational approach to automatically generate versatile, underactuated control policies…
Chattering phenomena is the major problem affecting sliding mode control (SMC). Also, finding a suitable structure and appropriate parameters values of fuzzy logic system (FLS) is a complex and difficult task. In addition, the stability of…
Autonomous wheeled-legged robots have the potential to transform logistics systems, improving operational efficiency and adaptability in urban environments. Navigating urban environments, however, poses unique challenges for robots,…
Robot navigation methods allow mobile robots to operate in applications such as warehouses or hospitals. While the environment in which the robot operates imposes requirements on its navigation behavior, most existing methods do not allow…
Smart structures are usually designed with a stimulus-response mechanism to mimic the autoregulatory process of living systems. In this work, in order to simulate this natural and self-adjustable behavior, a fuzzy feedback linearization…
Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these…
Optimal control of a mobile robot system is formulated. Multiobjective criteria of time and energy is employed. The optimal control problem is formulated as a nonlinear programming problem (NLP). The problem is solved using the direct…
Three-way decision (3WD) is a powerful tool for granular computing to deal with uncertain data, commonly used in information systems, decision-making, and medical care. Three-way decision gets much research in traditional rough set models.…
Swarm robotics is a promising approach for the coordination of large numbers of robots. While previous studies have shown that evolutionary robotics techniques can be applied to obtain robust and efficient self-organized behaviors for robot…
This paper describes the design process for developing a nonlinear model predictive controller for fault tolerant flight control. After examining and implementing a number of numerical techniques, this paper identifies pseudospectral…
Many studies have found active learning, either in the form of in-class exercises or projects, to be superior to traditional lectures. However, these forms of hands-on learning do not always lead students to reach the higher order thinking…
The deformable and continuum nature of soft robots promises versatility and adaptability. However, control of modular, multi-limbed soft robots for terrestrial locomotion is challenging due to the complex robot structure, actuator mechanics…
For the most comfortable, human-aware robot navigation, subjective user preferences need to be taken into account. This paper presents a novel reinforcement learning framework to train a personalized navigation controller along with an…
Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…
Natural language allows robot programming to be accessible to everyone. However, the inherent fuzziness in natural language poses challenges for inflexible, traditional robot systems. We focus on instructions with fuzzy time requirements…
When do locomotion controllers require reasoning about nonlinearities? In this work, we show that a whole-body model-predictive controller using a simple linear time-invariant approximation of the whole-body dynamics is able to execute…
Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…
The aim in this paper is to apply the iLQR, iterative Linear Quadratic Regulator, to control the movement of a mobile robot following an already defined trajectory. This control strategy has proven its utility for nonlinear systems. As…