Related Experiment Video
Updated: Jan 23, 2026
09:00
Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect
Published on: December 19, 2016
15.2K
Self-Triggered Formation Control of Nonholonomic Robots.
Carlos Santos1, Felipe Espinosa2, Miguel Martinez-Rey3
1Electronics Department, University of Alcalá, Engineering School, Campus Universitario, 28871 Alcalá de Henares, Spain. carlos.santos@uah.es.
Sensors (Basel, Switzerland)
|June 19, 2019
Summary
This study introduces a self-triggered aperiodic remote formation controller for nonholonomic robots. The controller reduces wireless communication by updating signals based on Lyapunov function variations, ensuring stable trajectory tracking.
Area of Science:
- Robotics
- Control Systems
- Wireless Communication
Background:
- Nonholonomic robots require robust control for trajectory tracking.
- Minimizing wireless communication is crucial for efficient robotic systems.
- Aperiodic control offers potential for reduced communication overhead compared to periodic methods.
Purpose of the Study:
- To design an aperiodic remote formation controller for nonholonomic robots.
- To reduce wireless communication between robots and external sensors.
- To guarantee formation stability during trajectory tracking.
Main Methods:
- Developed a self-triggered controller updating signals based on Lyapunov function variation.
- Implemented centralized and decentralized triggering mechanisms.
- Utilized an external positioning sensor network for robot pose detection.
Main Results:
- The proposed controller significantly reduces communication needs compared to periodic implementations.
- Desired tracking performance is preserved with reduced communication.
- Statistical analysis of simulations and experimental validation confirm effectiveness.
Conclusions:
- The aperiodic self-triggered controller effectively reduces communication in robotic formations.
- Lyapunov function-based triggering ensures stable trajectory tracking.
- The approach is validated through simulations and real-world robotic experiments.
Related Concept Videos
01:16Precipitate Formation and Particle Size Control
6.3K
In precipitation gravimetry, the precipitating agent should react specifically or selectively with the analyte. While a specific reagent reacts with the analyte alone, a selective reagent can react with a limited number of chemical species.
The obtained precipitate should be either a pure substance of known composition or easily converted to one by a simple process, such as ignition or drying. In addition, the precipitate should be insoluble and easily filterable. In general, filterability...
The obtained precipitate should be either a pure substance of known composition or easily converted to one by a simple process, such as ignition or drying. In addition, the precipitate should be insoluble and easily filterable. In general, filterability...
6.3K
02:33Combinatorial Gene Control
9.5K
Combinatorial gene control is the synergistic action of several transcriptional factors to regulate the expression of a single gene. The absence of one or more of these factors may lead to a significant difference in the level of gene expression or repression.
The expression of more than 30,000 genes is controlled by approximately 2000-3000 transcription factors. This is possible because a single transcription factor can recognize more than one regulatory sequence. The specificity in gene...
The expression of more than 30,000 genes is controlled by approximately 2000-3000 transcription factors. This is possible because a single transcription factor can recognize more than one regulatory sequence. The specificity in gene...
9.5K
01:31Formation of Species
44.8K
Speciation describes the formation of one or more new species from one or sometimes multiple original species. The resulting species are discrete from the parent species, and barriers to reproduction will typically exist. There are two primary mechanisms, speciation with and without geographic isolation—allopatric and sympatric speciation, respectively.
44.8K
02:16Solution Formation
37.0K
There is no one solvent that can dissolve every type of solute. Some substances that readily dissolve in a certain solvent might be insoluble in a different solvent. A simple way to predict which substances dissolve in which solvent is the phrase "like dissolves like". This means that polar substances, such as salt and sugar, dissolve in a polar substance like water. In contrast, non-polar substances are more soluble in non-polar solvents such as carbon tetrachloride.
This selective...
This selective...
37.0K
02:37Standard Enthalpy of Formation
49.0K
Enthalpy changes are typically tabulated for reactions in which both the reactants and products are at the same conditions. A standard state is a commonly accepted set of conditions used as a reference point for the determination of properties under other different conditions. For chemists, the IUPAC standard state refers to materials under a pressure of 1 bar and solutions at 1 M and does not specify a temperature. Many thermochemical tables list values with a standard state of 1 atm. Because...
49.0K
03:45Formation of Complex Ions
25.8K
A type of Lewis acid-base chemistry involves the formation of a complex ion (or a coordination complex) comprising a central atom, typically a transition metal cation, surrounded by ions or molecules called ligands. These ligands can be neutral molecules like H2O or NH3, or ions such as CN− or OH−. Often, the ligands act as Lewis bases, donating a pair of electrons to the central atom. These types of Lewis acid-base reactions are examples of a broad subdiscipline called coordination...
25.8K