Journal of Intelligent and Robotic Systems
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A hybrid frequency—time domain adaptive fuzzy control scheme for flexible link manipulators
Journal of Intelligent and Robotic Systems - Tập 10 - Trang 283-300 - 1994
This paper addresses the implementation of an adaptive fuzzy controller for flexible link robot arms. The design technique is a hybrid scheme involving both frequency and time domain techniques. The eigenvalues of the open loop plant can be estimated through application of a frequency domain based identification algorithm. The region of the eigenvalue space, within which the system operates, is pa......
Mixed Fuzzy Sliding-Mode Tracking with Backstepping Formation Control for Multi-Nonholonomic Mobile Robots Subject to Uncertainties
Journal of Intelligent and Robotic Systems - Tập 79 - Trang 73-86 - 2014
This paper aims at attaining one-leader & two-followers (1L-2F) formation control of multi-nonholonomic mobile robot (multi-NMR) systems subject to uncertainties and, at the same time, achieves trajectory-tracking of the leader NMR. To begin, the tracking error between the leader and a virtual reference robot is defined. Then, the extension to a leader-follower formation control structure is utili......
Integrated operation planning: Intelligent system approach for HVAC processes
Journal of Intelligent and Robotic Systems - Tập 10 - Trang 59-78 - 1994
This paper describes the construction of an Intelligent System for Operation Planning (ISOP) in heating, ventilating, and air conditioning (HVAC) processes. The system contains important expertise, qualitative reasoning, and quantitative computation. It is used to assist or train operators to achieve better operation in HVAC systems. Expertise about operation planning is expressed as air enthalpy,......
A Robust Control Law with Estimated Perturbation Compensation for Robot Manipulators
Journal of Intelligent and Robotic Systems - Tập 36 - Trang 265-283 - 2003
By considering the dynamic response of a robot manipulator as characterized by the sliding function, a technique is proposed to estimate the perturbation in the robot control system. Perturbation compensation is then incorporated in the design of a robust control law to cancel the effects of system parametric uncertainties and external disturbances. A normalized power rate component is introduced ......
Experimental Reaction–Diffusion Chemical Processors for Robot Path Planning
Journal of Intelligent and Robotic Systems - - 2003
In this paper we discuss the experimental implementation of a chemical reaction–diffusion processor for robot motion planning in terms of finding the shortest collision-free path for a robot moving in an arena with obstacles. These reaction–diffusion chemical processors for robot navigation are not designed to compete with existing silicon-based controllers. These controllers are intended for the ......
Grasp Pose Detection with Affordance-based Task Constraint Learning in Single-view Point Clouds
Journal of Intelligent and Robotic Systems - Tập 100 Số 1 - Trang 145-163 - 2020
A Framework for Vision-Based Building Detection and Entering for Autonomous Delivery Drones
Journal of Intelligent and Robotic Systems - Tập 107 - Trang 1-17 - 2023
Autonomous delivery by aerial robots inside urban environments is getting closer to be operational everyday, but several concerns about proper navigation sources are to be addressed. As lot of GPS glitches are observed in urban environments, hereon a fully vision-based navigation framework is developed. The platform is assumed to have the ability to get into a vicinity of its destination using ava......
A Soft Computing Approach to Road Classification
Journal of Intelligent and Robotic Systems - Tập 29 - Trang 349-387 - 2000
Current learning approaches to computer vision have mainly focussed on low-level image processing and object recognition, while tending to ignore high-level processing such as understanding. Here we propose an approach to object recognition that facilitates the transition from recognition to understanding. The proposed approach embraces the synergistic spirit of soft computing, exploiting the glob......
Monocular SLAM System for MAVs Aided with Altitude and Range Measurements: a GPS-free Approach
Journal of Intelligent and Robotic Systems - Tập 94 - Trang 203-217 - 2018
A typical navigation system for a Micro Aerial Vehicle (MAV) relies basically on GPS for position estimation. However, for several kinds of applications, the precision of the GPS is inappropriate or even its signal can be unavailable. In this context, and due to its flexibility, Monocular Simultaneous Localization and Mapping (SLAM) methods have become a good alternative for implementing visual-ba......
Multi-MAV Autonomous Full Coverage Search in Cluttered Forest Environments
Journal of Intelligent and Robotic Systems - Tập 106 - Trang 1-20 - 2022
This paper is concerned with autonomous forest full coverage search using multiple micro aerial vehicles (MAVs). Due to the complex and cluttered environment, i.e., many obstacles under the forest canopy, it is quite challenging to achieve full coverage search using fully autonomous MAVs, e.g., quadrotors. In this work, we propose a two-stage multi-MAV forest search strategy. The first batch of MA......
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