We address the problem of covering an environment with robots equipped sensors. The are heterogeneous in that sensor footprints different. Our work uses location optimization framework three significant extensions. First, we consider different footprints, allowing, for example, aerial and ground vehicles to collaborate. allow finite size which enables implementation on real robotic systems. Lastly, extend previous allowing deployment non convex environments.

The focus of this study is on the design feedback control laws for swarms robots that are based models from fluid dynamics. We apply an incompressible model to solve a pattern generation task. Possible applications efficient solution task surveillance and cordoning off hazardous areas. More specifically, we use smoothed-particle hydrodynamics (SPH) technique devise decentralized controllers force behave in similar manner particles. Our approach deals with static dynamic obstacles....

The knowledge of the electromagnetic constitutive properties materials is crucial in many applications. Free-space methods are widely used for this purpose, despite their inherent practical difficulties. This paper describes an affordable free-space experimental setup characterization flat samples 1–6 GHz a non-anechoic environment. extracted obtained from calibrated Scattering Parameters, using frequency-by-frequency solution or multi-frequency reconstruction. For first, we describe how...

We address the problem of pattern generation in obstacle-filled environments by a swarm mobile robots. Decentralized controllers are devised using Smoothed Particle Hydrodynamics (SPH) method. The is modelled as an incompressible fluid subjected to external forces. Actual robot issues such finite size and nonholonomic constraints also addressed. Collision avoidance guarantees discussed. Finally, absence obstacles, we prove for first time stability convergence based on SPH.

A meshless method for electromagnetic field computation is developed based on the multiquadric interpolation technique. global approximation to solution built only discretization of domain in nodes and differential equations describing problem its boundary. An attractive characteristic that it continuous has infinitely derivatives. This particularly important obtain quantities analysis. The also capable dealing with physical discontinuities present at interface between different materials....

This paper deals with one member of the class meshless methods, namely Meshless Local Petrov-Galerkin (MLPG) method, and explores its application to boundary-value problems arising in analysis two-dimensional electromagnetic wave propagation scattering. method shows some similitude widespread finite element (FEM), like discretization weak forms sparse global matrices. MLPG FEM differ what regards construction an unstructured mesh. In MLPG, there is no mesh, just a cloud nodes without...

This paper presents the meshless moving least square reproducing kernel method, originating from mechanics, which is applied for first time to solution of electromagnetic problems. Two-dimensional static problems are studied and simulation results show good agreement with analytical other numerical solutions.

This paper addresses the problem of controlling a large group robots in 2-D pattern generation task. Different from previous methodologies, our approach can be used generic static environments, where obstacles may appear. is based on analogy with simulation fluids electrostatic fields. By means weak coupling between smoothed particle hydrodynamics and finite element method we derive scalable solution decentralized controllers are provided

This paper presents a methodology for motion planning in outdoor environments that takes into account specific characteristics of the terrain. Instead decomposing robot configuration space “free” and “occupied”, we consider existence several regions with different navigation costs. In this paper, costs are determined experimentally by navigating through measuring influence terrain on its motion. We measure robot's vertical acceleration, which reflects roughness. The hybrid...

In this paper, we apply a meshless method based on local boundary integral equations (LBIEs) to solve electromagnetic problems. The discretization process is carried out through the use of special basis functions that, unlike Finite Element Method, are not confined an element and do require support underlying mesh. approach herein developed can be applied general three-dimensional scalar value problems arising in electromagnetism.

The element-free Galerkin (EFG) meshless method is being widely used in problems where it difficult to construct a good mesh or remeshing needed. Although most of these include three-dimensional (3-D) domains, few works are found using the EFG three dimensions all areas, including electromagnetism. In this paper, we present formulation and numerical results concerning parameters 3-D electromagnetic problem

This paper addresses the problem of mobile robot navigation using artificial potential fields. Many field based methodologies are found in robotics literature, but most them have problems with spurious local minima, which cause to stop before reaching its target position. Although some free minima none easy implement and generalize for complex shaped environments robots. We propose a perfect analogy between electrostatic computation path planning. Thus, an solution problem, is on standard...

Computational simulations involving problems of power quality, electromagnetic transients and compatibility, among others, require the application time domain cable models appropriate for high-frequency studies, able to represent parameter variation in relation frequency. Most that satisfy this condition require, be elaborated, input data regarding resistance inductance different frequencies. Since measurement such parameters is oftentimes not feasible, possibility their determination from...

Cable models for high-frequency studies require the calculation of per-unit-length parameters in a wide frequency range. Analytical methods, such as ones implemented traditional electromagnetic transient simulators, are frequently used this purpose. However, they accurate only cable systems which cables sufficiently apart from each other, and specific geometries presence other wired metallic structures is neglected. This hampers their application to calculate assembled trays or pipes,...

Meshless Methods, also called Meshfree are a class of numerical methods to solve partial differential equations. The main characteristic these is that they do not need mesh like the one used in Finite Element Method. In this sense meshless very useful for modeling moving structures, such as electric machines, without remeshing process. work Element-Free Galerkin Method simulate three phase induction motor model including, first time, field circuit coupling transient equations and rotor movement.

This note presents a new approach to robust D-stability analysis of linear time-invariant systems with polytope-bounded uncertainty. The proposed combines sufficient conditions for in terms feasibility problems matrix inequalities (LMI) constraints and polytope partition technique. If the initial does not attain D- stability condition, is successively subdivided until all subpolytopes case robustly D-stable uncertain system, or it found subpolytope vertex that regional pole-placement...

An approach to compute the ℋ2- or ℋ∞-guaranteed costs with any prescribed accuracy is presented. The proposed can be applied uncertain state–space models of linear time-invariant systems, where system matrices depend on parameters vary in a polytopic domain space matrices. developed based new implementation branch-and-bound algorithm upper-bound functions matrix inequality (LMI) characterisations. branch operation subdivision technique that kind polytope shape, not restricted hyper-rectangle...

This article presents a simple efficient algorithm for the subdivision of d -dimensional simplex in k simplices, where is any positive integer number. The an extension Freudenthal's method. proposed deals with more general case subdivision, and considerably simpler than RedRefinementND implementation strategy. motivated by problem field robust control theory: computation tight upper bound dynamical system performance index means branch-and-bound algorithm.

This paper addresses the problem of efficiently computing robot navigation functions. Navigation functions are potential free spurious local minima that present an exact solution to motion planning and control problem. Although some methodologies were found in literature, none them easy implement generalize for complex shaped workspaces robots. We discuss difficulties encountered current propose a novel approach using Finite Element method field computation.

A particular meshless method, named local Petrov–Galerkin is investigated. To treat the essential boundary condition problem, an alternative approach proposed. The basic idea to merge best features of two different methods shape function generation: moving least squares (MLS) and radial basis functions with polynomial terms (RBFp). Whereas MLS has lower computational cost, RBFp imposes in a direct manner conditions. Thus, dividing domain into regions hybrid method been developed. Results...

The meshless local Petrov-Galerkin method (MLPG) with a mixed formulation to impose Dirichlet boundary conditions is investigated in this paper. We propose the use of Shepard functions for inner nodes combined radial point interpolation polynomial terms (RPIMp) over boundaries. Whereas have lower computational costs, RPIMp imposes essential direct manner. Results show that proposed technique leads good tradeoff between time and precision.