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—We describe a framework for cooperative control of a group of nonholonomic mobile robots that allows us to build complex systems from simple controllers and estimators. The resultant modular approach is attractive because of the potential for reusability. Our approach to composition also guarantees stability and convergence in a wide range of tasks. There(More)
A dynamical extension that makes possible the integration of a kinematic controller and a torque controller for nonholonomic mobile robots is presented. A combined kinematic/torque control law is developed using backstepping, and asymptotic stability is guaranteed by Lyapunov theory. Moreover, this control algorithm can be applied to the three basic(More)
— In this paper, a first-state contractive (FSC) model predictive control (MPC) algorithm is developed for the trajec-tory tracking and point stabilization problems of nonholonomic mobile robots. Different from other stabilizing MPC methods, which address stability by adding terminal state penalties in the performance index and imposing constraints on the(More)
We describe a framework for coordinating multiple robots in cooperative manipulation tasks in which vision is used for establishing relative position and orientation and maintaining formation. The two key contributions are a cooperative scheme for localizing the robots based on visual imagery that is more robust than decentralized localization, and a set of(More)
Recent advances in communication, computation, and embedded technologies support the development of cooperative multivehicle systems [1]. For the purposes of this article, we adopt the following definition of cooperative behavior [2]: " Given some task specified by a designer, a multiple-robot system displays cooperative behavior if, due to some underlying(More)
In this paper, we present a decentralized coordination algorithm that allows a robotic swarm to locate and track a dynamic perimeter. A cooperative communication scheme is used by the team to rapidly detect a perimeter. Collision-free cycling behavior emerges by composing simple reactive control laws. The decentralized framework could potentially allow the(More)
In the past few decades, unmanned aerial vehicles (UAVs) have become promising mobile platforms capable of navigating semiautonomously or autonomously in uncertain environments. The level of autonomy and the flexible technology of these flying robots have rapidly evolved, making it possible to coordinate teams of UAVs in a wide spectrum of tasks. These(More)
The problem of surveilling moving targets using mobile sensor agents (MSAs) is applicable to a variety of fields, including environmental monitoring, security, and manufacturing. Several authors have shown that the performance of a mobile sensor can be greatly improved by planning its motion and control strategies based on its sensing objectives. This paper(More)