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This paper addresses the problem of coordinated path tracking for networked nonholonomic mobile vehicles, while building and keeping a desired formation. The control laws proposed are categorized into two envelopes by integrating individual path tracking and global virtual structure approaches. One is steering individual vehicles to track virtual vehicles(More)
This paper addresses the control problem of inspecting underwater pipeline on the seabed, with coordinated multiple autonomous underwater vehicles in a formation. Based on the leader-follower strategy, the dedicated nonlinear path following controller is rigorously built on Lyapunov-based design, driving a fleet of vehicles onto assigned parallel paths(More)
This paper proposes a novel control strategy for autonomous underwater vehicles (AUVs), named as path tracking, which combines the conventional path following and trajectory tracking control in order to achieve smooth spatial convergence and tight temporal performance as well. This idea is inspired by the previous work of Hindman [1] and Encarnacao [2],(More)
Considering variable payload and uncertainty of model, a sliding mode control scheme is proposed to realize a deep-sea manipulator control with high precision. The control principle is based on the exponential approach law. A saturation function is introduced to solve the problem of chattering. A novel and simple self-adaptive regulation method is used to(More)
This paper addresses the problem of coordinated path following of multiple wheeled mobile robots while keeping a desired formation. The control laws proposed are categorized into two envelopes, one is steering individual robots to trace along predefined paths, and the other is ensuring tracked paths to be well defined in the formation, by means of(More)
This paper addresses the navigation problem of coordinating a team of heterogenous vehicles including an autonomous surface vehicle (ASV) and several autonomous underwater vehicles (AUVs). Specially, a dedicated acoustic navigation scheme has been proposed in it. Utilizing the underwater DGPS concept, together with a set of intelligent surface sonobuoys,(More)
The involvement of OsKASI in FA synthesis is found to play a critical role in root development of rice. The root system plays important roles in plant nutrient and water acquisition. However, mechanisms of root development and molecular regulation in rice are still poorly understood. Here, we characterized a rice (Oryza sativa L.) mutant with shortened(More)
Autonomous underwater vehicles (AUVs) are widely used to explore the mysterious underwater world. Following along predefined spatial paths, AUVs are able to gather valuable seabed information in a designated area by recruiting sonar suites. The acoustic data collected by AUVs are usually in the type of point cloud with range information. Hence, how to(More)