REVIEW | doi:10.20944/preprints202009.0128.v1
Subject: Engineering, Control And Systems Engineering Keywords: Swarm mobile robots; human-swarm interaction; autonomous rovers
Online: 5 September 2020 (07:56:11 CEST)
As a result of extensive research in the field of mobile robots (rovers) and swarms, a number of algorithms exist to assist them for executing a mission in the three levels of software architecture: strategic (interaction loop level), tactic (planning) and operational (sensing, control and actuation). They allow them to achieve their goals while adapting to their environment through a multitude of methods designed for each situation. For this reason, a literature review of the latest research conducted in previous years is required to identify new research trends in human-swarm interaction applied to help humans in hazardous environment such as militarized zone. In this paper, we will present some interesting algorithms for interactive and autonomous mobile robots acting in swarms in an open and crowded environment. A discussion will focus on comparing different algorithms and their advantages and disadvantages.
ARTICLE | doi:10.20944/preprints201608.0015.v1
Subject: Engineering, Control And Systems Engineering Keywords: Finite-time control; nonlinear system; non-Lipschitzian dynamics; lyapunov function
Online: 2 August 2016 (10:40:38 CEST)
This paper focuses on the problem of finite-time stabilization of homogeneous, non-Lipschitz systems with dilations. A key contribution of this paper is the design of a virtual recursive Hölder, non-Lipschitz state feedback which renders the non-Lipschitz systems in the special case dominated by a lower-triangular nonlinear system, finite-time stable. The proof is based on a recursive design algorithm developed recently, to construct the virtual Hölder continuous, finite-time stabilizer as well as a C1 positive definite and proper Lyapunov function that guarantees finite-time stability of the non-Lipschitz non-linear systems.