6 accepted papers
Underwater robots often need to communicate with external localization sensors. The low bandwidth in such communications is one of the bottlenecks in achieving accurate tracking control. Toward this end, we adopt a novel periodic event-triggered control (PETC) which allows a robotic fish to reduce i
In this letter, a collision avoidance control strategy is developed for a robotic fish that is propelled by a two-joint fishtail, comprising a servo motor and an ionic polymer-metal composite (IPMC), which are used as solid and soft actuators, respectively. In this dual-actuator system, the forward
Three-dimensionally (3D) maneuverable robotic fish are highly desirable due to their ability to explore and survey the underwater environment. Existing depth control mechanisms are typically focused on using either compressed air or a piston to generate changes in volume. However, this often makes t
In this letter, the problem of collision avoidance of objects, which can deform by changing their shape as a function of time, is considered. There are several scenarios involving such deforming objects-examples include environments with shape shifting robots, such as snake robots, boundaries of swa
In this letter, we present analytical expressions for collision cones associated with a class of hyper quadric surfaces moving in n-dimensional configuration space. Using a relative velocity paradigm, a geometric analysis of the distance, time, and point of closest approach between moving objects in