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runs on the Nserver, the Nomad simulator. These test runs, where the robot tracks a circle from different initial positions and configurations, clearly indicate that our proposed second control algorithm works globally in a stable and robust way. It should be emphasized that if we were to use the first, local algorithm on these test runs, it would fail(More)
A novel technique is presented for organizing swarms of robots into formation utilizing artificial potential fields generated from normal and sigmoid functions. These functions construct the surface swarm members travel on, controlling the overall swarm geometry and the individual member spacing. Limiting functions are defined to provide tighter swarm(More)
A novel method is presented for dynamic heterogeneous swarm formation control with potential fields generated from bivariate normal probability density functions (pdfs) used to construct the surface which swarm members move on, controlling swarm geometry, individual member spacing, and managing obstacle avoidance. Limiting functions are defined to provide(More)
Miniature unmanned aerial vehicles (UAVs) and unmanned vertical takeoff and landing (VTOL) vehicles have become popular due to their compact size, high maneuverability and high payload-to-size ratio. Such vehicles have shown great potential in surveillance and search and rescue; however the " on-the-ground " processing methods implemented are rather(More)
The eye-in-the-sky alternative to collecting real-time temporal/spatial data using small unmanned helicopters is proposed to: monitor traffic, evaluate and assess traffic patterns and provide accurate vehicle counts. Collected real-time visual data are converted to traffic statistical profiles and used as continuously updated inputs to existing traffic(More)
A novel method is presented for swarm formation control with potential fields generated from bivariate normal probability density functions (pdfs) that construct the surface the swarm members move upon controlling the swarm geometry and member spacing as well as manage obstacle avoidance. Limiting functions provide tighter swarm control by modifying and(More)
State transitions in Computer Integrated Manufacturing Systems result either from the execution of the planned actions or from the occurrence of unpredictable events. One key requirement for task planning designed for CIM systems, is the ability to monitor events and respond to them appropriately. Related issues include the specification and classification(More)
A Model Predictive Control Based Trajectory Tracking (MPCTT) system for small unmanned helicopters is presented. A linear model predictive controller is used to take advantage of the fast algorithms available to solve convex optimization problems. The proposed MPCTT system is compared with a velocity tracking and a position tracking system implemented with(More)
In this paper, the development of Multiple Input Multiple Output (MIMO) subnets is discussed. Hierarchical Time-Extended Petri Nets (H-EPNs), a form of extended PNs allow the development of structured MIMO subnets to model complex system functionalities. In addition, H-EPNs also provide a means to convert such a MIMO structure to a Single Input Single(More)