Section: New Results

Networked Robots

The mobile robots constitute an important area of practical development for the team:

• The paper [33] presents a path planning algorithm for autonomous navigation of non-holonomic mobile robots in complex environments. The irregular contour of obstacles is represented by segments. The optimal path planning problem is formulated as a constrained receding horizon planning problem and the trajectory is obtained by solving an optimal control problem with constraints.

• In [62] robot dynamic parameters are estimated based on power model associated with modulating functions, which avoids measuring or calculating the joint acceleration. At the same time, an advanced causal Jacobi derivative estimator is applied in order to get on-line robust derivatives from noisy measurements.

• The paper [61] provides a solution for the stabilization of a nonholonomic wheeled mobile robot which is affected by additive input disturbances. The solution is based on the supervisory control framework, finite-time stability and robust multi-output regulation.

• The demo video with the developments of NON-A team in networked robotics is given by https://www.youtube.com/watch?v=Mq_hB0UkzkY