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Author: Weijia Yao
Publisher: Springer Nature
ISBN: 3031291522
Category : Technology & Engineering
Languages : en
Pages : 273
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Book Description
Using a designed vector field to guide robots to follow a given geometric desired path has found a range of practical applications, such as underwater pipeline inspection, warehouse navigation, and highway traffic monitoring. It is thus in great need to build a rigorous theory to guide practical implementations with formal guarantees. It is even so when multiple robots are required to follow predefined desired paths or maneuver on surfaces and coordinate their motions to efficiently accomplish repetitive and laborious tasks. The book introduces guiding vector fields on Euclidean spaces and Riemannian manifolds for single-robot and multi-robot path-following and motion coordination, provides rigorous theoretical guarantees of vector field guided motion control of robotic systems, and elaborates on the practical implementation of the proposed algorithms on mobile wheeled robots and fixed-wing aircraft. It provides guidelines for the robust, reliable, and safe practical implementations for robotic tasks, including path-following navigation, obstacle-avoidance, and multi-robot motion coordination. In particular, the book reveals fundamental theoretic underpinnings of guiding vector fields and applies to addressing various robot motion control problems. Notably, it answers many crucial and challenging questions such as: · How to generate a general guiding vector field on any n-dimensional Riemannian manifold for robot motion control tasks? · Do singular points always exist in a general guiding vector field? · How to generate a guiding vector field that is free of singular points? · How to design control algorithms based on guiding vector fields for different robot motion control tasks including path-following, obstacle-avoidance, and multi-robot distributed motion coordination? Answering these questions has led to the discovery of fundamental assumptions, a “topological surgery” to create a singularity-free guiding vector field, a robot navigation algorithm with the global convergence property, a provably safe collision-avoidance algorithm and an effective distributed motion control algorithm, etc
Author: Weijia Yao
Publisher: Springer Nature
ISBN: 3031291522
Category : Technology & Engineering
Languages : en
Pages : 273
Get Book Here
Book Description
Using a designed vector field to guide robots to follow a given geometric desired path has found a range of practical applications, such as underwater pipeline inspection, warehouse navigation, and highway traffic monitoring. It is thus in great need to build a rigorous theory to guide practical implementations with formal guarantees. It is even so when multiple robots are required to follow predefined desired paths or maneuver on surfaces and coordinate their motions to efficiently accomplish repetitive and laborious tasks. The book introduces guiding vector fields on Euclidean spaces and Riemannian manifolds for single-robot and multi-robot path-following and motion coordination, provides rigorous theoretical guarantees of vector field guided motion control of robotic systems, and elaborates on the practical implementation of the proposed algorithms on mobile wheeled robots and fixed-wing aircraft. It provides guidelines for the robust, reliable, and safe practical implementations for robotic tasks, including path-following navigation, obstacle-avoidance, and multi-robot motion coordination. In particular, the book reveals fundamental theoretic underpinnings of guiding vector fields and applies to addressing various robot motion control problems. Notably, it answers many crucial and challenging questions such as: · How to generate a general guiding vector field on any n-dimensional Riemannian manifold for robot motion control tasks? · Do singular points always exist in a general guiding vector field? · How to generate a guiding vector field that is free of singular points? · How to design control algorithms based on guiding vector fields for different robot motion control tasks including path-following, obstacle-avoidance, and multi-robot distributed motion coordination? Answering these questions has led to the discovery of fundamental assumptions, a “topological surgery” to create a singularity-free guiding vector field, a robot navigation algorithm with the global convergence property, a provably safe collision-avoidance algorithm and an effective distributed motion control algorithm, etc
Author:
Publisher:
ISBN:
Category :
Languages : en
Pages : 0
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Book Description
Author: Carlos Guedes Soares
Publisher: CRC Press
ISBN: 1315342650
Category : Technology & Engineering
Languages : en
Pages : 2358
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Book Description
Maritime Technology and Engineering 3 is a collection of papers presented at the 3rd International Conference on Maritime Technology and Engineering (MARTECH 2016, Lisbon, Portugal, 4-6 July 2016). The MARTECH Conferences series evolved from biannual national conferences in Portugal, thus reflecting the internationalization of the maritime sector. The keynote lectures and the papers, making up nearly 150 contributions, came from an international group of authors focused on different subjects in a variety of fields: Maritime Transportation, Energy Efficiency, Ships in Ports, Ship Hydrodynamics, Ship Structures, Ship Design, Ship Machinery, Shipyard Technology, afety & Reliability, Fisheries, Oil & Gas, Marine Environment, Renewable Energy and Coastal Structures. Maritime Technology and Engineering 3 will appeal to academics, engineers and professionals interested or involved in these fields.
Author: Xiaoduo Li
Publisher: Springer Nature
ISBN: 9819733367
Category :
Languages : en
Pages : 714
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Book Description
Author: Yuquan Leng
Publisher: Frontiers Media SA
ISBN: 2832549853
Category : Science
Languages : en
Pages : 134
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Book Description
With the progress and development of human-robot systems, the coordination among humans, robots, and environments has become increasingly sophisticated. In this Research Topic, we focus on an important field in robotics and automation disciplines, which is commonly defined as behavior-assistant robots. The scope includes but is not limited to: (1) rehabilitation assistive devices, such as rigid/soft exoskeletons, prosthetic systems, orthoses, and intelligent wheelchairs; (2) intelligent medical systems, such as endoscopic robots, surgical robots, and the navigation systems; (3) industrial application devices, such as collaborative manipulators, load-bearing exoskeletons, supernumerary robotic limbs; (4) intelligent domestic devices, such as mobile robots, elderly-care robots, walking-aids robots and so on. The emergence of robot-assisted daily behaviors, based on aforementioned devices, is gradually becoming part of our social lives, which can improve weak motor abilities, enhance physical functionalities, and enable various other benefits.
Author: National Research Council
Publisher: National Academies Press
ISBN: 030905785X
Category : Mathematics
Languages : en
Pages : 81
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Book Description
Some of the modem developments described in Motion, Control, and Geometry include the geometric control of robot motion and craft orientation, how high-power precision micromotors are engineered for less invasive surgery and self-focusing lens applications, what a mobile robot on a surface has in common with one moving in three dimensions, and how the motion-control problem is simplified by a coupled oscillator's geometric grouping of degrees of freedom and motion time scales. The four papers in these proceedings provide a view through the scientific portal of today's motion-control geometric research into tomorrow's technology. The mathematics needed to carry out this research is that of modem differential geometry, and the questions raised in the field of motion-control geometry go directly to the research frontier. Geometry is a mathematical area too often neglected nowadays in a student's education. This publication will help adjust the control initially imposed about 2,300 years ago on one kind of "motion"-that of students entering Plato's Academy, where the following caveat was inscribed above the doorway: "Let no one ignorant of geometry enter here." Readers of these chapters will gain an appreciation of modem geometry and how it continues to play a crucial role in the context of motion control in cutting-edge science and technology.
Author: Liang Yan
Publisher: Springer Nature
ISBN: 981158155X
Category : Technology & Engineering
Languages : en
Pages : 5416
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Book Description
This book features the latest theoretical results and techniques in the field of guidance, navigation, and control (GNC) of vehicles and aircraft. It covers a range of topics, including, but not limited to, intelligent computing communication and control; new methods of navigation, estimation, and tracking; control of multiple moving objects; manned and autonomous unmanned systems; guidance, navigation, and control of miniature aircraft; and sensor systems for guidance, navigation, and control. Presenting recent advances in the form of illustrations, tables, and text, it also provides detailed information of a number of the studies, to offer readers insights for their own research. In addition, the book addresses fundamental concepts and studies in the development of GNC, making it a valuable resource for both beginners and researchers wanting to further their understanding of guidance, navigation, and control.
Author: Anh Duc Dang
Publisher:
ISBN:
Category :
Languages : en
Pages :
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Book Description
Author: Wenxing Fu
Publisher: Springer Nature
ISBN: 981990479X
Category : Technology & Engineering
Languages : en
Pages : 3985
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Book Description
This book includes original, peer-reviewed research papers from the ICAUS 2022, which offers a unique and interesting platform for scientists, engineers and practitioners throughout the world to present and share their most recent research and innovative ideas. The aim of the ICAUS 2022 is to stimulate researchers active in the areas pertinent to intelligent unmanned systems. The topics covered include but are not limited to Unmanned Aerial/Ground/Surface/Underwater Systems, Robotic, Autonomous Control/Navigation and Positioning/ Architecture, Energy and Task Planning and Effectiveness Evaluation Technologies, Artificial Intelligence Algorithm/Bionic Technology and Its Application in Unmanned Systems. The papers showcased here share the latest findings on Unmanned Systems, Robotics, Automation, Intelligent Systems, Control Systems, Integrated Networks, Modeling and Simulation. It makes the book a valuable asset for researchers, engineers, and university students alike.
Author: Bruno Siciliano
Publisher: Springer Science & Business Media
ISBN: 354023957X
Category : Technology & Engineering
Languages : en
Pages : 1626
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Book Description
With the science of robotics undergoing a major transformation just now, Springer’s new, authoritative handbook on the subject couldn’t have come at a better time. Having broken free from its origins in industry, robotics has been rapidly expanding into the challenging terrain of unstructured environments. Unlike other handbooks that focus on industrial applications, the Springer Handbook of Robotics incorporates these new developments. Just like all Springer Handbooks, it is utterly comprehensive, edited by internationally renowned experts, and replete with contributions from leading researchers from around the world. The handbook is an ideal resource for robotics experts but also for people new to this expanding field.
