Novel Lyapunov-Based Autonomous Controllers for Quadrotors

Raj, Jai; Raghuwaiya, Krishna; Vanualailai, Jito

doi:10.1109/access.2020.2979223

Cited by 23 publications

(24 citation statements)

References 38 publications

(44 reference statements)

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“…A study by [9] claimed that both education and human life do not effectively function without the knowledge of mathematics. In formal education, mathematics forms the basis of many of the sciences such as physics, chemistry, biology, engineering, and IT disciplines as well as the nonscience disciplines such as accounting, economics, geography, and even physical education, music, and art [1,4,6,7,[10][11][12][13][14][15]. It is one of the most important subjects in the school curriculum, which acts as a bridge for all knowledge [3].…”

Section: Introductionmentioning

confidence: 99%

Perceived Causes of Students’ Poor Performance in Mathematics: A Case Study at Ba and Tavua Secondary Schools

Chand¹,

Chaudhary

Prasad

et al. 2021

Front. Appl. Math. Stat.

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Poor achievement in mathematics is an issue of great concern for many countries across the globe. Fiji is one of the countries in the South Pacific experiencing the same trends, pressures, and concerns. This study aims to seek the views of stakeholders (students, teachers, heads of departments, and school heads) with regards to the causes of poor achievement in mathematics at the senior grades of secondary schools in the districts of Ba and Tavua, Fiji. A descriptive design using both quantitative and qualitative approaches were utilized whereby data were collected from 201 upper secondary school respondents comprising 171 students, 16 mathematics teachers, 7 department heads, and 7 school heads from seven randomly selected schools in the districts of Ba and Tavua. The study found that the students had a negative attitude toward mathematics. It was also found that an ineffective mathematics curriculum in secondary schools was the reason behind poor performance in the subject. Moreover, many of the primary school teachers lacked potential and competence to teach mathematics at primary school levels, and this largely contributed toward the lack of interest amongst students, hence translating into poor achievement at both upper and lower secondary levels. On the other hand, however, it was gathered that secondary school teachers were rather positive, good quality, performing, and fully qualified as far as the teaching of mathematics and delivery of the subject matter was concerned. Review and amendments to the year 12 and 13 mathematics curriculum, use of technologies to teach mathematics, improving the quality of primary school mathematics teachers, reducing the emphasis on exams, introducing internal assessments, projects, and field work in the mathematics curriculum were a few of the significant recommendations made from this study.

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Section: Introductionmentioning

confidence: 99%

Perceived Causes of Students’ Poor Performance in Mathematics: A Case Study at Ba and Tavua Secondary Schools

Chand¹,

Chaudhary

Prasad

et al. 2021

Front. Appl. Math. Stat.

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“…2 The research area has seen a variety of approaches documented in the literature, such as road maps, 3,4 cell decomposition path planning, 5,6 and artificial potential field (APF). [7][8][9][10][11][12] The differences between the approaches are linked to the type of information about the workspace that is available to the robotic system. 2,13 These differences give rise to the two well-known methods in navigation; sensor-based method and global path planning method.…”

Section: Introductionmentioning

confidence: 99%

“…The mobile robots are increasingly deployed in real-life applications, such as military-based applications, industrial, office, agriculture automation, search and rescue, surveillance and inspection, to name but a few. 8,9,11,12 In essence, mobile robots are tasked with work that could be defined as "dull, dirty, or dangerous". 9,12 Multi-agent robotic systems are more favored in accomplishing specific control objectives as a direct consequence of their effectiveness with the coupling of inherent constraints and restrictions, robustness, flexibility, redundancy, their wide-ranging capabilities, and the abundance of real-world applications compared to a single agent.…”

Section: Introductionmentioning

confidence: 99%

Motion Control of a Flock of 1-Trailer Robots with Swarm Avoidance

Raj¹,

Raghuwaiya²,

Sharma³

et al. 2021

Robotica

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SUMMARY This paper addresses the motion planning and control problem of a system of 1-trailer robots navigating a dynamic environment cluttered with obstacles including a swarm of boids. A set of nonlinear continuous control laws is proposed via the Lyapunov-based Control Scheme for collision, obstacle, and swarm avoidances. Additionally, a leader–follower strategy is utilized to allow the flock to split and rejoin when approaching obstacles. The effectiveness of the control laws is demonstrated through numerical simulations, which show the split and rejoin maneuvers by the flock when avoiding obstacles while the swarm exhibits emergent behaviors.

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“…Typically, MPC algorithms are applied to systems with fully fixed geometric and kinematic features, while the system design in robotics takes into account robustness, stiffness, workspace volume, obstacle avoidance schemes, and other performance features. e principle goal for any MPC problem is to find the most optimum design to optimise the motion between given configurations [2][3][4][5][6][7]. In an MPC problem, multiple robots are favoured as they are able to cooperate for faster and more efficient results [4,5,[8][9][10], including other fields where multiagent operations are always preferred [11].…”

Section: Introductionmentioning

confidence: 99%

Collision Avoidance of 3D Rectangular Planes by Multiple Cooperating Autonomous Agents

Raj

Raghuwaiya

Vanualailai

2020

Journal of Advanced Transportation

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We develop a set of novel autonomous controllers for multiple point-mass robots or agents in the presence of wall-like rectangular planes in three-dimensional space. To the authors’ knowledge, this is the first time that such a set of controllers for the avoidance of rectangular planes has been derived from a single attractive and repulsive potential function that satisfies the conditions of the Direct Method of Lyapunov. The potential or Lyapunov function also proves the stability of the system of the first-order ordinary differential equations governing the motion of the multiple agents as they traverse the three-dimensional space from an initial position to a target that is the equilibrium point of the system. The avoidance of the walls is via an approach called the Minimum Distance Technique that enables a point-mass agent to avoid the wall from the shortest distance away at every unit time. Computer simulations of the proposed Lyapunov-based controllers for the multiple point-mass agents navigating in a common workspace are presented to illustrate the effectiveness of the controllers. Simulations include towers and walls of tunnels as obstacles. In the simulations, the point-mass agents also show typical swarming behaviors such as split-and-rejoin maneuvers when confronted with multiple tower-like structures. The successful illustration of the effectiveness of the controllers opens a fertile area of research in the development and implementation of such controllers for Unmanned Aerial Vehicles such as quadrotors.

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Novel Lyapunov-Based Autonomous Controllers for Quadrotors

Cited by 23 publications

References 38 publications

Perceived Causes of Students’ Poor Performance in Mathematics: A Case Study at Ba and Tavua Secondary Schools

Perceived Causes of Students’ Poor Performance in Mathematics: A Case Study at Ba and Tavua Secondary Schools

Motion Control of a Flock of 1-Trailer Robots with Swarm Avoidance

Collision Avoidance of 3D Rectangular Planes by Multiple Cooperating Autonomous Agents

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