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This paper presents a model predictive control (MPC) approach for multivehicle formation taking into account collision avoidance and velocity limitation with reduced computational burden. The first part of the paper constructs a formation control law using feedback linearization with MPC in order to reduce the optimal control problem to a mixed-integer(More)
This paper proposes a quadratic programming (QP) approach to robust MPC for constrained linear systems having both model uncertainties and bounded disturbances. To this end, we construct an additional comparison model for worst-case analysis based on a robust control Lyapunov function (RCLF) for the unconstrained system (not necessarily an RCLF in the(More)
In this paper, we develop a new type of snake-like robot using screw-drive units that are connected by active joints. The screw-drive units enable the robot to generate propulsion on any side of the body in contact with environments. Another feature of this robot is the omnidirectional mobility by combinations of screws' angular velocities. We also derive a(More)
In robot teleoperation there is a mounted camera on a robot and the operation is usually performed from a remote site using captured images by the mounted camera. Even though color cameras provide many useful information of a remote site, robot teleoperation using color cameras are highly effected by environmental conditions such as lighting, colors, smoke,(More)
This paper presents a shape transformation control method of a mobile robot with wheel-arms. The proposed method aims at transformation from a four-wheeled mode for high speed mobility to an inverted pendulum mode, which has advantages of high viewing position and small turning radius. The transformation starts with lifting up the wheel-arms to raise the(More)
In this paper, state-predictive control is applied to an autonomous blimp in the presence of time delay and disturbance. To this end, a state predictor to compensate time delay is constructed based on the separate-bias filters taking into account nonzero-mean disturbances. Experimental results show that constraint violations are reduced in model predictive(More)
This paper presents a shape transformation control method of a mobile robot with wheel-arms. The proposed method aims at transformation from a four-wheeled mode for high-speed mobility to an inverted pendulum mode, which has advantages of high viewing position and small turning radius. The transformation starts with lifting up the wheel-arms to raise the(More)