Encontrados 8 documentos, a visualizar página 1 de 1
Benchmark of swarm robotics distributed techniques in a search task
Couceiro, Micael S.; Vargas, Patricia A.; Rocha, Rui P.; Ferreira, Nuno M. F.This paper presents a survey on multi-robot search inspired by swarm intelligence by further classifying and discussing the theoretical advantages and disadvantages of the existing studies. Subsequently, the most attractive techniques are evaluated and compared by highlighting their most relevant features. This is motivated by the gradual growth of swarm robotics solutions in situations where conventional searc...
A fuzzified systematic adjustment of the robotic Darwinian PSO
Couceiro, Micael S.; Machado, J. A. Tenreiro; Rocha, Rui P.; Ferreira, Nuno M. F.The Darwinian Particle Swarm Optimization (DPSO) is an evolutionary algorithm that extends the Particle Swarm Optimization using natural selection to enhance the ability to escape from sub-optimal solutions. An extension of the DPSO to multi-robot applications has been recently proposed and denoted as Robotic Darwinian PSO (RDPSO), benefiting from the dynamical partitioning of the whole population of robots, he...
Introducing the fractional-order Darwinian PSO
Couceiro, Micael S.; Rocha, Rui P.; Ferreira, Nuno M. F.; Machado, J. A. TenreiroOne of the most well-known bio-inspired algorithms used in optimization problems is the particle swarm optimization (PSO), which basically consists on a machinelearning technique loosely inspired by birds flocking in search of food. More specifically, it consists of a number of particles that collectively move on the search space in search of the global optimum. The Darwinian particle swarm optimization (DPSO) ...
Hybrid adaptive control of a dragonfly model
Couceiro, Micael S.; Ferreira, Nuno M. F.; Machado, J. A. TenreiroDragonflies show unique and superior flight performances than most of other insect species and birds. They are equipped with two pairs of independently controlled wings granting an unmatchable flying performance and robustness. In this paper, it is presented an adaptive scheme controlling a nonlinear model inspired in a dragonfly-like robot. It is proposed a hybrid adaptive (HA) law for adjusting the parameters...
Application of fractional controllers for quad rotor
Lebres, C.; Santos, V.; Ferreira, Nuno M. F.; Machado, J. A. TenreiroThis paper studies the application of fractional algorithms in the control of a quad-rotor rotorcraft. The development of a flight simulator provide the evaluation of the controller algorithm. Several basic maneuvers are investigated, namely the elevation and the position control.
Modeling and control of a dragonfly-like robot
Couceiro, Micael S.; Ferreira, Nuno M. F.; Machado, J. A. TenreiroDragonflies demonstrate unique and superior flight performances than most of the other insect species and birds. They are equipped with two pairs of independently controlled wings granting an unmatchable flying performance and robustness. In this paper, the dynamics of a dragonfly-inspired robot is studied. The system performance is analyzed in terms of time response and robustness. The development of computati...
Two cooperating manipulators with fractional controllers
Ferreira, Nuno M. F.; Machado, J. A. Tenreiro; Tar, József K.This paper analyzes the dynamic performance of two cooperative robot manipulators. It is studied the implementation of fractional-order algorithms in the position/force control of two cooperating robotic manipulators holding an object. The simulations reveal that fractional algorithms lead to performances superior to classical integer-order controllers.
Application of fractional algorithms in the control of a robotic bird
Couceiro, Miguel S.; Ferreira, Nuno M. F.; Machado, J. A. TenreiroIn this paper, it is studied the dynamics of the robotic bird in terms of time response and robustness. It is analyzed the wing angle of attack and the velocity of the bird, the tail influence, the gliding flight and the flapping flight. The results are positive for the construction of flying robots. The development of computational simulation based on the dynamic of the robotic bird should allow testing strate...
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