In analogy to the ow of uids, it is expected that the aggregate density and the velocity of vehicles in a section of a freeway adequately describe the tra c ow dynamics. The conservation of mass equation together with the aggregation of the vehicle following dynamics of controlled vehicles describes the evolution of the tra c density and the aggregate speed of a tra c ow. There are two kinds of...

The problem of controlling a platoon of vehicles moving in one dimension is considered so that they all follow a lead vehicle with constant spacing between successive vehicles. The stability and the string stability of a platoon of vehicles with two independent and uncertain delays, one in the inter-vehicle distance and the other in the relative velocity information channels, are considered. Th...

An essential consideration in the development of any control algorithm for a multilegged vehicle is to maintain stability. If at any point during locomotion the vehicle becomes unstable, there is a possibility that the vehicle will overturn. In this research, we propose to include body sway motion into the motion planning of a quadruped’s wave gait, such that its stability margin can be substan...

This paper presents a control scheme to achieve dynamic stability in an aerial vehicle with dual multi-degree of freedom manipulators. Arm movements assist with stability and recovery for ground robots, in particular humanoids and dynamically balancing vehicles. However, there is little work in aerial robotics where the manipulators themselves facilitate flight stability or the load mass is rep...

Dynamic stability is an important issue for vehicles which move heavy loads, turn at speed, or operate on sloped terrain. In many cases, vehicles face more than one of these challenges simultaneously. This paper presents a methodology for deriving and reacting to proximity to tipover for autononmous field robots which must be productive, effective, and self reliant under such challenging circum...

three piece bogies are widely in use by the freight railway services throughout the world. in comparison with the other freight bogies they cost less and are easier to maintain. however, they do not exhibit favorable curving behavior. amongst the methods to improve the bogie performance is the proposal to introduce lateral clearance in the bogies’ axleboxs. in the case of the three piece bogies...