Fluids in Electrostatic Fields: An Analogy for Multirobot Control

Pimenta, Luciano C. A.; Mendes, M.L.; Mesquita, Renato C.; Pereira, Guilherme A. S.

doi:10.1109/tmag.2007.892514

Cited by 37 publications

(25 citation statements)

References 9 publications

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“…• underwater explosions and water mitigation [125,143,[247][248][249]255], • elastic and/or plastic flow [52,114,[257][258][259], • fracture of brittle solids [260], • metal forming and high pressure die casting [68,[261][262][263][264][265][266][267][268][269][270], • magneto-hydrodynamics and magnetic field simulation [271][272][273][274][275][276][277][278][279][280][281][282], • problems with fluid-solid interactions [176,196,210,[283][284][285][286][287][288], and • many other problems like blood flow [289][290][291][292], traffic flow …”

Section: Applicationsmentioning

confidence: 99%

Smoothed Particle Hydrodynamics (SPH): an Overview and Recent Developments

Liu

2010

Arch Computat Methods Eng

1,491

682

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Smoothed particle hydrodynamics (SPH) is a meshfree particle method based on Lagrangian formulation, and has been widely applied to different areas in engineering and science. This paper presents an overview on the SPH method and its recent developments, including (1) the need for meshfree particle methods, and advantages of SPH, (2) approximation schemes of the conventional SPH method and numerical techniques for deriving SPH formulations for partial differential equations such as the Navier-Stokes (N-S) equations, (3) the role of the smoothing kernel functions and a general approach to construct smoothing kernel functions, (4) kernel and particle consistency for the SPH method, and approaches for restoring particle consistency, (5) several important numerical aspects, and (6) some recent applications of SPH. The paper ends with some concluding remarks.

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Section: Applicationsmentioning

confidence: 99%

Smoothed Particle Hydrodynamics (SPH): an Overview and Recent Developments

Liu

2010

Arch Computat Methods Eng

1,491

682

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“…Given a team of mobile robots, this problem consists of controlling such a team to converge to and form a prespecified static geometrical pattern. In [4], [5], and [6], vector fields are computed to solve this problem for static twodimensional patterns.…”

Section: Introductionmentioning

confidence: 99%

Artificial vector fields for robot convergence and circulation of time-varying curves in n-dimensional spaces

Gonçalves

Pimenta

Maia

et al. 2009

2009 American Control Conference

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This paper addresses the problem of controlling a single mobile robot to converge smoothly to a pre-specified closed curve. Once in the curve, the robot remains circulating along it. The main motivation for this is the control of unmanned airplanes, where the robot cannot converge to a single point. Our control law is based on an artificial vector field that allows for the generalization to time-varying curves defined in n-dimensional spaces. We also present results that may be used to control mobile robots moving with constant speed. We devise convergence proofs and present simulations that verify the proposed approach.

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“…Future work involves the use of these methods for swarms in dynamic environments, wherein we will allow the environmental factors such as sea state, current and wind to influence not only the positions of the units on the formation profile, but the formation profile itself. We will also consider methods for decentralization based on the work in [16,17,18].…”

Section: Discussionmentioning

confidence: 99%

“…In [8], the authors select a rigid formation for the units, while in this work we select a formation shape and use the controller to force the units to converge to a formation that lies on that shape profile but does not have a priori fixed unit locations. In this way, the work is more closely related to that of [17,18], although with a centralized approach that accommodates additional dynamics. While the work in [13,14] forms the basis for the control, the application of these concepts to flexible formations is entirely novel.…”

Section: Introductionmentioning

confidence: 99%

Formation control of underactuated autonomous surface vessels using redundant manipulator analogs

Bishop

2012

2012 IEEE International Conference on Robotics and Automation

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In this paper, we present a method utilizing redundant manipulator analogs for formation control of underactuated autonomous surface vessels (ASVs) with realistic turning constraints and dynamics. The method used relies on casting the swarm as a single entity and utilizing redundant manipulator techniques to guarantee task-level formation control as well as obstacle avoidance and secondary tasks such as mean position control. The method presented differs from other approaches in that the units herein represent a larger class of ASVs with realistic limitations on vessel motions and that the exact position of each of the units on the formation profile is not specified.

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Fluids in Electrostatic Fields: An Analogy for Multirobot Control

Cited by 37 publications

References 9 publications

Smoothed Particle Hydrodynamics (SPH): an Overview and Recent Developments

Smoothed Particle Hydrodynamics (SPH): an Overview and Recent Developments

Artificial vector fields for robot convergence and circulation of time-varying curves in n-dimensional spaces

Formation control of underactuated autonomous surface vessels using redundant manipulator analogs

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