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We introduce a framework, called " physicomimetics, " that provides distributed control of large collections of mobile physical agents in sensor networks. The agents sense and react to virtual forces, which are motivated by natural physics laws. Thus, physicomimetics is founded upon solid scientific principles. Furthermore, this framework provides an(More)
—By combining static input–output decoupling transformations with hexapod geometric design, the highly coupled dynamics of a flexure jointed hexapod can be decoupled. Several algorithms have been proposed which result in different sets of decou-pled inputs and outputs, and which can use a variety of feedback measurements (position, velocity, acceleration,(More)
The ability of robots to quickly and accurately localize their neighbors is extremely important in swarm robotics. Prior approaches generally rely either on global information provided by GPS, beacons, and landmarks, or complex local information provided by vision systems. In this paper we provide a new technique, based on trilateration. This system is(More)
The ability of robots to quickly and accurately localize their neighbors is extremely important for robotic teams. Prior approaches typically rely either on global information provided by GPS, beacons and landmarks, or on complex local information provided by vision systems. In this paper we describe our trilateration approach to multi-robot localization,(More)
—Teams of autonomous cooperating vehicles are well-suited for meeting the challenges associated with mobile marine sensor networks. Swarms built using a physicomimetics approach exhibit predictable behavior – an important benefit for extended duration deployments of autonomous ocean platforms. By using a decentralized control framework, we minimize energy(More)
In contrast to conventional drives, with direct drives the motor is not created until it is integrated into the machine. The mechanical and electrical subsystems are merged to form the mechatronic system by the velocity and position control loops. Since control parameters have a crucial influence on the behavior of the complete system, a main goal of this(More)
The authors report the revision for a course entitled Discrete Data Systems which is a blend of classical and modern digital control, and digital filtering. This revision reflects computing resources now available and as a result no longer are low order system problems assigned. The authors have incorporated symbolic computing in several appropriate places(More)
Workbenches in traditional student electronics laboratories have supported courses primarily in areas of circuits and electronics. Unfortunately, it has been difficult to design meaningful hands-on exercises for other courses such as signals and systems, communications, controls, and digital signal processing using typical workbench setups. This paper(More)