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This paper presents a complete isotropy analysis of an omnidirectional mobile robot with three caster wheels. All possible actuation sets with different number and combination of rotating and steering joints are considered. First, the kinematic model of a caster wheeled omnidirectional mobile robot (COMR) having n (3 /spl les/ n /spl les/ 6) actuated joints(More)
This paper presents optimal amplify-and-forward (AF) relay amplifying matrices based on the minimum mean square error (MMSE) criterion for a cooperative AF wireless relay network consisting of a one-source-one-destination node pair and two-level N relay nodes. During data transmission, power is constrained at the source node, at the relay nodes in the first(More)
The omnidirectional mobility of a mobile robot loses significance in motion control, unless the isotropy characteristics of the mechanism is maintained well. This paper investigates the local and global isotropy of an omnidirectional mobile robot with three caster wheels. All possible actuations with different number and combination of rotating and steering(More)
An amplify-and-forward (AF) wireless relay network consisting of a one-source-one-destination node pair and cooperative multiple N relay nodes is proposed in three adverse wireless communication environments, i.e., jamming, node geometry, and channel uncertainty. Based on the minimum mean square error (MMSE) criterion, the optimal amplifying relay matrix in(More)