Mobile and/or autonomous robots represent a widely approached research subject. The most common problems associated to all the types of mobile robots refers to the spatial orientation system and to the mathematical models. Additionally, many difficulties are generated taking into consideration practical aspects of implementation, but the technology evolution made possible to develop smaller siz...

The area of collective and cooperative behaviour in swarm robots is an exciting field of study. Recent technological and economic developments have made it possible to build medium to large scale swarms of quite sophisticated mobile robots. We review recent mobile computing technologies and describe our architecture for a swarm of tri-wheeled robots that can exchange information via wireless ar...

Wheeled Mobile Robots are considered as the most widely used class of Mobile Robots. This is due to their fast maneuvering, simple controllers, and energy saving characteristics. A new adaptive algorithm for tracking control of these robots is presented in this paper which is robust against external and internal disturbances. A combination of model reference adaptive control and gain scheduling...

This paper considers the distributed formation control of multiple nonholonomic wheeled mobile robots with a leader. Distributed tracking control laws are proposed with the aid of results of cascade systems such that the centroid of the states of a group of mobile robot exponentially tracks the leader. Simulation results show the effectiveness of the proposed algorithms.

A modular wheeled mobile robot is composed of autonomous wheeled modules capable of selfassembling to form up a modular mobile robot. The robot can change the number of its modules by having the modules detach themselves from the main body and move independently. In this paper, we propose a docking system for such robots, including a connection mechanism and a docking guidance system. The conne...

This paper considers the design of an adaptive trajectory tracking control strategy of nonholonomic wheeled mobile robots which is based on H∞ control method. Kinematics control laws of mobile robots is well known, therefore, developing the dynamics control is focused. It is shown that the resulting dynamics control strategy can compensate not only the physical parameters of mobile robot, but a...

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...

The paper presents a solution to the problem of combined trajectory tracking and path following system design for underactuated mobile robots with non negligible dynamics. This problem is motivated by the practical need to develop control systems for mobile robots that can yield good trajectory tracking performance while keeping some of the properties that are normally associated with path foll...

Application of wheeled mobile robots have gradually progressed from the confines of structured indoor environments to rough outdoor terrains. Material transport and exploration are some of the few areas where wheeled robots are required to navigate over uneven terrains. Stable and efficient navigation of wheeled robots over uneven terrains require a framework which can correctly ascertain the s...

A wheeled mobile robot is here modelled as a planar rigid body that rides on an arbitrary number of wheels. The relationship between the rigid body motion of the robot and the steering and drive rates of wheels is developed. In particular, conditions are obtained that guarantee that rolling without skidding or sliding can occur. Explicit differential equations are derived to describe the rigid ...