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— The design of a CACC system and corresponding experiments are presented. The design targets string stable system behavior, which is assessed using a frequency-domain-based approach. Following this approach, it is shown that the available wireless information enables small inter-vehicle distances, while maintaining string stable behavior. The theoretical(More)
—This paper presents a frequency domain identification of dynamic model parameters for frictional presliding behavior. The identification procedure for the dynamic model parameters, i.e., 1) the stiffness and 2) the damping of the pres-liding phenomenon, is reduced from performing several dedicated experiments to one experiment where the system is excited(More)
Atomic Force Microscopes (AFMs) are widely used for the investigation of samples at the nanometer scale. The metrological AFM used in this work uses a 3 degrees-of-freedom (DOFs) stage, driven by piezo-stack actuators, for sample manipulation in combination with a fixed cantilever. The piezo-stack actuators suffer from hysteresis, which acts as a nonlinear(More)
SUMMARY The tracking performance of systems that perform repetitive tasks can be significantly improved using iterative learning control (ILC). During successive iterations, ILC learns a high performance feedforward signal from the measured tracking error. In practical applications, the tracking errors of successive experiments contain a repetitive part and(More)
The RoboCup Middle-Size League (MSL) is one of the founding leagues of the annual RoboCup competition. Ever since its birth it has been a league where development of hard-and software happens simultaneously in a real-world decentralized multi-robot soccer setting. Over the years the MSL achieved scientific results in robust design of mechatronic systems,(More)
Robots increasingly operate in dynamic environments and in order to operate safely, reliable world models are indispensable. A world model is the robot's view of the world and contains information about obstacle locations and velocities. A two level algorithm is proposed. It is of particular use for teams of cooperating robots and the algorithm is based on(More)
A motion planner for mobile robots is commonly built out of a number of algorithms that solve the two steps of motion planning: 1) representing the robot and its environment and 2) searching a path through the represented environment. However, the available literature on motion planning lacks a generic methodology to arrive at a combination of(More)