Neuro-fuzzy and soft computing: a computational approach to learning and machine intelligence
Neuro-fuzzy and soft computing: a computational approach to learning and machine intelligence
Cooperative Mobile Robotics: Antecedents and Directions
Autonomous Robots
D-NURBS: A Physics-Based Framework for Geometric Design
IEEE Transactions on Visualization and Computer Graphics
Reactivity and Deliberation: A Survey on Multi-Robot Systems
Balancing Reactivity and Social Deliberation in Multi-Agent Systems, From RoboCup to Real-World Applications (selected papers from the ECAI 2000 Workshop and additional contributions)
Evolving Self-Organizing Behaviors for a Swarm-Bot
Autonomous Robots
Specular Free Spectral Imaging Using Orthogonal Subspace Projection
ICPR '06 Proceedings of the 18th International Conference on Pattern Recognition - Volume 01
CoRdE: Cosserat rod elements for the dynamic simulation of one-dimensional elastic objects
SCA '07 Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation
Interactive simulation of one-dimensional flexible parts
Computer-Aided Design
Geometrically exact dynamic splines
Computer-Aided Design
On the Control of a Multi-robot System for the Manipulation of an Elastic Hose
IWINAC '09 Proceedings of the 3rd International Work-Conference on The Interplay Between Natural and Artificial Computation: Part II: Bioinspired Applications in Artificial and Natural Computation
Information Sciences: an International Journal
Towards the adaptive control of a multirobot system for an elastic hose
ICONIP'08 Proceedings of the 15th international conference on Advances in neuro-information processing - Volume Part I
Illumination chromaticity estimation using inverse-intensity chromaticity space
CVPR'03 Proceedings of the 2003 IEEE computer society conference on Computer vision and pattern recognition
Multirobot systems: a classification focused on coordination
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Concurrent modular Q-learning with local rewards on linked multi-component robotic systems
IWINAC'11 Proceedings of the 4th international conference on Interplay between natural and artificial computation - Volume Part I
Empirical study of Q-learning based elemental hose transport control
HAIS'11 Proceedings of the 6th international conference on Hybrid artificial intelligent systems - Volume Part II
Towards concurrent Q-learning on linked multi-component robotic systems
HAIS'11 Proceedings of the 6th international conference on Hybrid artificial intelligent systems - Volume Part II
Linked multicomponent robotic systems: basic assessment of linking element dynamical effect
HAIS'10 Proceedings of the 5th international conference on Hybrid Artificial Intelligence Systems - Volume Part I
Neuronal implementation of predictive controllers
HAIS'10 Proceedings of the 5th international conference on Hybrid Artificial Intelligence Systems - Volume Part II
Information Sciences: an International Journal
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The Linked Multi-Component Robotic Systems (L-MCRS) consists of a group of mobile robots carrying a passive uni-dimensional object (a hose or a wire). It is a recently identified unexplored and unexploited category of multi-robot systems. In this paper we report the first effort on the modeling, control and visual servoing of L-MCRS. Modeling has been tackled from geometrical and dynamical points of view. The passive element is modeled by splines, and the dynamical modeling is achieved by the appropriate extension of Geometrically Exact Dynamic Splines (GEDS). The system's modeling allows realistic simulation, which can be used as a test bed for the evaluation of control strategies. In this paper we evaluate two such control strategies: a baseline global controller, and a fuzzy local controller based on the observation of the hose segment between two robots. Finally, we have performed physical experiments on a team of robots carrying a wire under a visual servoing scheme that provides the perceptual information about the hose for the fuzzy local controller. Visual servoing robust image segmentation is grounded in the Dichromatic Reflection Model (DRM).