4 accepted papers
This letter presents a generic coordination approach for the control of mobile manipulators. It is based on an external coupled coordination and exploits a multi-trajectory following approach. A coordination stage provides optimal offsets with respect to system sub-parts reference trajectories that
During the off-road path following of a wheeled mobile robot in presence of poor grip conditions, the longitudinal velocity should be limited in order to maintain safe navigation with limited tracking errors, while at the same time being high enough to minimize travel time. Thus, this paper presents…
This paper proposes a new approach for online control law gains adaptation, through the use of neural networks and the Covariance Matrix Adaptation Evolution Strategy (CMA-ES) algorithm, in order to optimize the behavior of the robot with respect to an objective function. The neural network consider…
Many agricultural tasks are known to be dangerous for human operators, the environment, and human health in general. The increasing pressure both on safety and on production levels motivates the development of new methodologies and technologies. The rising of off-road mobile robots for agricultural…