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2. Modelling of Underwater Robots
In this Chapter the mathematical model of UVMSs is derived. Modeling of rigid bodies moving in a fluid or underwater manipulators has been studied in...
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Getting Mobile Autonomous Robots to Rendezvous
Imagine n mobile robots, i.e., rovers, moving in the plane without human supervision. In addition to a motor drive, each robot has onboard a computer...
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On the Gap Metric for Finite-Dimensional Linear Time-Varying Systems in Continuous Time
It is well-known that the gap metric, and its variants, provide a natural framework for studying the robustness of feedback interconnections [1–4]....
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3. Dynamic Control of 6-DOF AUVs
In this Chapter, the problem of controlling an Autonomous Underwater Vehicle in 6-DOFs is approached. To effectively compensate the hydrodynamic...
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The Multi-Agent Rendezvous Problem. An Extended Summary
This paper is concerned with the collective behavior of a group of n > 1 mobile autonomous agents, labelled 1 through n, which can all move in the...
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The Geometry of Sensor Information Utilization in Nonlinear Feedback Control of Vehicle Formations
This paper addresses the problem of distributed motion control of highly structured formations of robot vehicles. Feedback laws based on relative...
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Decentralized Coordination with Local Interactions: Some New Directions
Due to the limited effective range of every physical sensor, as well as potential bandwidth limitations on the communication channels, there is a...
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Coordination Variables and Consensus Building in Multiple Vehicle Systems
Much of the research focus in the cooperative control community has been on formation control problems [1, 3, 7, 10, 19]. This focus may be due to...
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Optimization-Based Control of Multi-Vehicle Systems
There are many applications where a team of mobile robots may be more suitable than a single vehicle, especially where a distributed system of...
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Modeling and Analysis of Cooperative Control Systems for Uninhabited Autonomous Vehicles
A mathematical model is developed for the study of cooperative control problems for multiple uninhabited autonomous vehicles (UAVs). This model...
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A Study of Synchronization and Group Cooperation Using Partial Contraction Theory
Synchronization, collective behavior, and group cooperation have been the object of extensive recent research. A fundamental understanding of...
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Extracting Interactive Control Algorithms from Group Dynamics of Schooling Fish
Biological groups such as schools of Fish, flocks of birds, and herds of ungulates are remarkable for the effectiveness with which they maintain...
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Automobile, Bus, and Rail Passenger Air Quality
Concentrations of pollutants emitted in the exhaust of gasoline and diesel engines and from evaporation of fuels -- (e.g. CO, CO2, NO...
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Microbial Contamination in Airplane Cabins:Health Effects and Remediation
Microorganisms that affect human health are found in all indoor environments, including cabins of commercial aircraft. Those that arise from human...
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Stochastic Modelling over a Finite Alphabet and Algorithms for Finding Genes from Genomes
In this paper, we study the problem of constructing models for a stationary stochastic process {...
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Thoughts on System Identification
It is a pleasure to dedicate this Festschrift article to Keith Glover on the occasion of his 60-th birthday. Keith came to MIT in 1969, armed with a...
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LMI-Based Gain Scheduled Controller Synthesis for a Class of Linear Parameter Varying Systems
This paper presents a novel method for constructing controllers for a class of single-input multiple-output (SIMO) linear parameter varying (LPV)...
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Submarine Atmospheres
Atmosphere control in submarines has developed to meet the operational requirements. Until the end of WWII submarines were primarily...
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Aircraft Cabin Indoor Air Environment Requirements
The purpose of heating or cooling systems is to provide an acceptable microclimate and maintain suitable conditions for the intended use of the...
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Aircraft Cabin Air Filtration and Related Technologies:Requirements, Present Practice and Prospects
Aircraft cabin air being supplied from the engines or APU is known to occasionally be contaminated with hydraulic fluids, engine oils, and...