This paper is concerned with planning the motion of mobile robots in formation, which means certain geometrical constraints are imposed on the relative positions and orientations of the robots throughout their travel. Specifically, a method of planning motion for formations of mobile robots with nonholonomic constraints is presented. The kinematic equations developed allow a certain class of fo...

AbsIruct-Formations that contain a small number of robots are modeled as controlled Lagrangian systems on Jacobi shape space. This allows a blocked decoupled control for position, orientation and shape of the formation. Feedback control laws are derived using control Lyapunov functions. The controlled dynamics converges to the invariant set where desired shape is achieved. Controllers are imple...

groundwater quality characteristics are affected by lithology and geological structure of aquifer formations. this research has studied the groundwater chemical quality of the upper aji-chai basin with regard to different geological formations. using pie and piper diagrams, the researchers analyzed hydro-chemical elements of 47 sample groundwater resources. after determining water type of sampl...

The wavefields generated by monopole and dipole sources in a fluid filled borehole embedded in multilayered transversely isotropic saturated porous formations are studied. The layers are modeled following Biot theory modified in accordance with homogenization theory. It allows to take into account a transversely isotropic skeleton and/or a transversely isotropic complex permeability tensor. The...

A class F of universal algebras is called a formation if the following conditions are satisfied: 1) Any homomorphic image of A ∈ F is in F ; 2) If α1, α2 are congruences on A and A/αi ∈ F , i = 1, 2, then A/(α1∩ α2) ∈ F . We prove that any formation generated by a simple algebra with permutable congruences is minimal, and hence any formation containing a simple algebra, with permutable congruen...

This paper describes the optimization of a compliant motion task plan which guarantees the estimation of the inaccurately known position and orientation of the contacting objects to the required accuracy (“active sensing”). The task plan consists of (i) the desired sequence of contact formations and (ii) the compliant path to execute during each of these contact formations. The plan is optimize...

The coordinated flight of bird flocks is a pleasant and attractive sight. While most previous approaches have focused on animating cluster formations, this paper introduces a technique for animating flocks that fly in certain patterns (socalled line formations). We distinguish between the behavior of such flocks during initiation and their behavior during steady flight. We provide a biologicall...

In this paper, we provide a theoretical framework that consists of graph theoretical and Lyapunov-based approaches to stability analysis and distributed control of multi-agent formations. This framework relays on the notion of graph rigidity as a means of identifying the shape variables of a formation. Using this approach, we can formally define formations of multiple vehicles and three types o...

Recent research projects have demonstrated that it is possible to make robots move in formation. The approaches di er by the various assumptions about what can be perceived and communicated by the robots, the strategies used to make the robots move in formation, the ability to deal with obstacle and to switch formations. After suggesting criteria to characterize problems associated with robot f...