This paper proposes a wheeled mobile robot (WMR) robust control scheme. The feasible strategy is developed to achieve an efficient and autonomous motion. To realize kinematic planning of the WMR, novel controller designed based on Lyapunov function. part can be divided into following two aspects: 1) considering nonholonomic constraints in trajectory tracking, dynamic feedback-linearization adop...

This paper describes the incorporation of active force control (AFC) scheme into two different resolved motion acceleration control (RMAC) models, i.e. RMAC with proportional-plus-derivative (RMAC-PD) and RMAC with proportional-plus-integralplus-derivative (RMAC-PID). The two newly formulated control models are subsequently implemented as the proposed motion controllers for the nonholonomic whe...

In this paper we consider a Wireless Mesh Network (WMN) integrating SDN principles. The Wireless Mesh Routers (WMR) are OpenFlow capable switches that can be controlled by SDN controllers, according to the wmSDN (wireless mesh SDN) architecture that we have introduced in a previous work. We consider the issue of controller selection in a scenario with intermittent connectivity. We assume that o...

Antimicrobial peptides are promising candidates as future therapeutics in order to face the problem of antibiotic resistance caused by pathogenic bacteria. Myxinidin is a peptide derived from the hagfish mucus displaying activity against a broad range of bacteria. We have focused our studies on the physico-chemical characterization of the interaction of myxinidin and its mutant WMR, which conta...

This paper presents a fast method to plan the path, and control the position of wheeled mobile robots (WMRs) in a robot soccer game. In a WJ4R system with position control, when the target position is given, the controller will generate the reference path and then the WMR will move to the target position following the reference path. To tackle the dfficulties of the nonlinear control problem, t...

The purpose of this chapter is to introduce, analyze, and compare the models of wheeled mobile robots (WMR) and to present several realizations and commonly encountered designs. The mobility of WMR is discussed on the basis of the kinematic constraints resulting from the pure rolling conditions at the contact points between the wheels and the ground. According to this discussion it is shown tha...

One of the most recent research areas over the last two decades is the navigation of mobile robots in unknown environments. In this paper, real time navigation for Wheeled Mobile Robot (WMR) using fuzzy logic technique, wireless communication and MATLAB is investigated. Two fuzzy logic controllers (FLCs) with two inputs and two outputs are used to navigate WMR in obstacle ridden environment. Ou...

In 1996, Ota and Tokuda showed that a star-free graph with sufficiently high minimum degree admits a 2-factor. More recently it was shown that the minimum degree condition can be significantly reduced if one also requires that the graph is not only star-free but also of sufficiently high edge-connectivity. In this paper we reduce the minimum degree condition further for star-free graphs that al...

By comparing the features of an object from a desired image to features of the object in the current image, geometric relationships are exploited to enable a Euclidean reconstruction from a homography matrix that relates the imagespace feedback to the position/orientation of the wheeled mobile robot (WMR) in a local coordinate system. The information obtained from the homography is used to deve...

We propose a novel passivity-enforcing tele-driving control framework, which will enable a human operator to stably tele-control a unicycle-type wheeled mobile robot (WMR) over communication network with constant delays while having some useful haptic force-feedback. We consider both the case of kinematic and dynamic WMRs. Our main objective is to enable human users to tele-drive the WMR as the...