Even since pioneering work of Levine and Athans and Melzer and Kuo, control of vehicular formations has been a topic of active research. In spite of its apparent simplicity, this problem poses significant engineering challenges, and it has often inspired theoretical developments. In this article, we view vehicular formations as a particular instance of dynamical systems over networks and summar...

In this paper, a systematic way of maintaining rigidity in case of vehicle removals in formations for coordinating mobile autonomous vehicles with limited communication/sensing links is presented. The main concern is the minimal rearrangement of links in such a way that the links that have not been removed are preserved as they are, and the minimum number of new links are created in the formati...

In this paper, the basic constitutive equations and equations of motion are derived to describe the behavior of thermoelastic porous piezoelectric medium by using Biot’s theory and the theory of generalized thermoelasticity with on relaxation time (Lord-Shulman). The electrical enthalpy density function is derived in the general coordinates. Also, clear definitions for the poroelastic modulus, ...

This paper examines the problem of relative attitude observability for formations of three, four and five vehicle formations. The analysis is rooted in within the principles of maximum likelihood estimation insomuch as the metric for observability is the resulting Fisher information matrix for the small attitude errors. For formations of three and four vehicles it is shown that the relative att...

Simulating fluid flow in geological formations requires mesh generation, lithology mapping to the cells, and computing geometric properties such as normal vectors and volume of cells. The purpose of this research work is to compute and process the geometrical information required for performing numerical simulations in geological formations. We present algebraic techniques, named Transfinite In...

ADSlraCI: 1rns paper aoaresses roDUSIcomroi OJ mumpre mobile robots moving in desired formations. A rigorous control technique for such an agent-based robotic system may encounter problems of singularity, parameter sensitivity and inter-robot collision. Our proposed approach focuses on the enhancement of robustness as well as collision-free establishment of formations even in the case of singul...

Grupi and Kashkan marl formations comprise a considerable part of Zagros region. These formations have a considerable erodibility and sedimentation potential because of their special geological and mineralogical characteristics. The objective of this study was to compare the erosion and sediment yield of Kashkan and Grupi formations in Merk watershed located in southeast Kermanshah, using the M...

The treatment of word formations has until recently been a neglected topic in natural language AI research. This paper proposes a multilayered approach to word formation which treats derivatives and compounds on several different levels of processing within a natural language dialogue system. Analysis and generation strategies being developed for the dialogue system HAM-ANS are described. Ident...

The motivation behind this work is to transfer force-based assembly skills to robots by using human demonstration. For this purpose, we model the skills as a sequence of contact formations (which describe how a workpiece touches its environment) and desired transitions between contact formations. In this paper , we present a method of identifying single-ended contact formations from force senso...