This paper studies distributed rendezvous strategies for multiple nonholonomic wheeled mobile robots with the aim of testing their practicality on real robots. We investigate control strategies which use just bearing-only or range-only measurements and do not need inter-robot radio communication to share the measurements. For the bearing-only case, two control laws proposed in our previous stud...

A coordinated control framework for multiagent systems using sliding mode control approach was developed in (Ghasemi and Nersesov, 2013). The framework addresses a general class of underactuated agents and presents a specialization to the agents represented by wheeled mobile robots. In this paper, we extend the results of (Ghasemi and Nersesov, 2013) to incorporate the obstacle/collision avoida...

Autonomous and teleo erated mobile robots require an ccurate knowledge of their spatial location in order to accomplish many tasks. Many mobile robots make use of dead reckoning navigation because of its simplicity, low cost and robustness. Although dead reckoning navigation has been used for centuries for ships and wheeled vehicles, the application to a walking machine is novel. Since walking ...

The dynamic model of redundantly actuated mobile robots with powered caster wheels is derived based on vehicle dynamics. The contact stability problem of wheeled mobile robots is introduced and stable contact condition that characterizes the bounds of contact stability is derived. Sliding mode observer is proposed to estimate the robot velocity using wheel angular velocity and joint torque info...

This article presents a Java based 3D simulator for mobile robots called MoRoS3D. This application is able to simulate realistic motion of different wheeled mobile robots including dynamic behavior and collision detection. Typical sensors are also available in order to develop intelligent navigation applications. As this simulator provides CORBA interfaces for every active objects, applications...

A Posture Control for Two Wheeled Mobile Robots Hyun-Sik Shim and Yoon-Gyeoung Sung Abstract: In this paper, a posture control for nonholonomic mobile robots is proposed with an empirical basis. In order to obtain fast and consecutive motions in realistic applications, the motion requirements of a mobile robot are de ned. Under the assumption of a velocity controller designed with the selection...

Robots that can move over rough terrain with active body leveling are now in strong demand. Such a robot can have a variety of uses, such as carrying packages, assisting people who have difficulty in walking, and safety monitoring outdoors. Many robots capable of moving over rough terrain exist as research tools; however, few are suitable for practical use. These robots can be generally classif...

This paper presents a study of energy efficiency and kinematic-based optimal design locomotion pneumatic artificial muscle (PAM)-driven snake-like robot. Although robots have several advantages over wheeled track-wheeled mobile robots, their low energy-locomotion has limited applications in long-range outdoor fields. work continues our previous efforts designing prototyping muscle-driven robot ...