Shadi Tasdighi Kalat

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This paper introduces a unique hexapedal locomotion platform tagged TriBot as potential agents for swarm robotic systems. We investigate the differences in performance and kinematic characteristics of two identical prototypes of this mobile robot manufactured using different design and fabrication methods and materials. Among alternatives for mass(More)
This article details the formulation of a decentralized controller for collective manipulation that does not require any communication between agents involved in the task. First, a centralized controller based on the complete system Jacobian is discussed as a benchmark. Then, the centralized controller is reformulated to obtain the algorithm for the(More)
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