The aim of this article is proposal and implementation of the multi-robot system for mapping of the unknown environment. For the localization of each robot, simple odometry was used. Navigation of the robots is based on algorithm similar to bug algorithms. Communication between robots is based on polling. The system was implemented on the platform iRobot Create. Practical experiments have proven that multi-robot system for mapping of the unknown environment is faster and more reliable than single robot system.
The paper deals with the multimodel and robust control system design and their combination based on M-Δ structure. Controller design will be done in the frequency domain with nominal performance specified by phase margin. Hydraulic turbine model is analyzed as system with unstructured uncertainty, and robust stability condition is included in controller design. Multimodel and robust control approaches are presented in detail on hydraulic turbine model. Control design approaches are compared and used for derivation of new approaches which combine advantages of both.
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