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In this paper, we propose an intermittent communication framework for mobile robot networks. Specifically, we consider robots that move along the edges of a connected mobility graph and communicate only when they meet at the nodes of that…
Simulations and bisimulations are well-established notions in crisp/fuzzy automata theory and are widely used to compare the behaviors of automata. Their main drawback is that they compare the behaviors of fuzzy automata in a crisp manner.…
Redundant cascade manipulators actuated by pneumatic bellows actuators are passively compliant, rugged and dexterous which are qualities making them exceptionally well suited for applications in agriculture. Unfortunately bellows actuators…
This paper introduces a multi-agent approach to adjust traffic lights based on traffic situation in order to reduce average delay time. In the traffic model, lights of each intersection are controlled by an autonomous agent. Since decision…
In this paper, a robust adaptive type-2 fuzzy higher order sliding mode controller is designed to stabilize the unstable periodic orbits of uncertain perturbed chaotic system with internal parameter uncertainties and external disturbances.…
Artificial intelligence algorithms have been extensively applied in the field of intelligent transportation, especially for driving behavior analysis and prediction. This study proposes a novel framework by integrating fuzzy trajectory…
Soft robots have been leveraged in considerable areas like surgery, rehabilitation, and bionics due to their softness, flexibility, and safety. However, it is challenging to produce two same soft robots even with the same mold and…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
This paper presents a new technique to control highly redundant mechanical systems, such as humanoid robots. We take inspiration from two approaches. Prioritized control is a widespread multi-task technique in robotics and animation: tasks…
Motion mimicking, i.e., encouraging the control policy to mimic human motion, facilitates the learning of complex tasks via reinforcement learning (RL) for humanoid robots. Although standard RL frameworks demonstrate impressive locomotion…
Quadrotors are one of the popular unmanned aerial vehicles (UAVs) due to their versatility and simple design. However, the tuning of gains for quadrotor flight controllers can be laborious, and accurately stable control of trajectories can…
Improving the powertrain control of heavy-duty vehicles can be an efficient way to reduce the fuel consumption and thereby reduce both the operating cost and the environmental impact. One way of doing so is by using information about the…
In this paper, a new interval type-2 fuzzy neural network able to construct non-separable fuzzy rules with adaptive shapes is introduced. To reflect the uncertainty, the shape of fuzzy sets considered to be uncertain. Therefore, a new form…
We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they…
This letter investigates the motion control problem of two mobile robots under allowable collisions. Here, the allowable collisions mean that the collisions do not damage the mobile robots. The occurrence of the collisions is discussed and…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
A novel fractional order (FO) fuzzy Proportional-Integral-Derivative (PID) controller has been proposed in this paper which works on the closed loop error and its fractional derivative as the input and has a fractional integrator in its…
Mediative Fuzzy Logic was conceived as a practical scheme for reconciling hesitant or conflicting assessments in fuzzy control and decision-making. However, its logical and semantic foundations remain underdeveloped, especially beyond…
The quadrotor unmanned aerial vehicle is a great platform for control systems research as its nonlinear nature and under-actuated configuration make it ideal to synthesize and analyze control algorithms. After a brief explanation of the…
Recently, two types of simulations (forward and backward simulations) and four types of bisimulations (forward, backward, forward-backward, and backward-forward bisimulations) between fuzzy automata have been introduced. If there is at…