Passive Multiuser Teleoperation of a Multirobot System With Connectivity-Preserving Containment

Yuan, Yang; Constantinescu, Daniela; Shi, Yang

doi:10.1109/tro.2021.3086685

Cited by 11 publications

(3 citation statements)

References 66 publications

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“…To Indeed, this network finds utility across various scenarios within multi-robot systems, including medical applications [34], remote swarm robots [35], and shared autonomous robots [36]. Leveraging the robust attributes of the EtherCAT protocol, this network permits the deployment of a multitude of interconnected agents while necessitating only one master station.…”

Section: This Solution Offered the Reasonable Path Planning Algorithm...mentioning

confidence: 99%

Using EtherCAT technology to launch online automated guided vehicle manipulation with unity‐based platform for smart warehouse management

Nguyen,

Ngo

2023

IET Control Theory & Appl

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In Industry 4.0, the innovative concept of a smart warehouse is defined as a progressive development in logistics and operations management. Numerous advanced techniques are recommended for integration, including wearable devices, communication, loading/unloading, optimization, robotics, and automated transportation, among others. Currently, the growing demand for swift cargo distribution, cost‐effective labour utilization, and enhanced productivity stands as an urgent topic for both enterprises and scholars. This paper presents an EtherCAT‐based model of automated guided vehicle (AGV)‐manipulation introduced within the Unity platform for smart warehouse management. The working environment selected for this model is a cross‐docking warehouse with a chessboard layout. Initially, theoretical computations pertaining to mechanical design are established to provide accurate parameters. Subsequently, the structure of the TwinCAT Human–Machine Interface Server and the configuration within the Unity environment are outlined. Following that, the software architecture, encompassing data exchange and a set of motion commands, is meticulously explained. To validate the proposed approach, several laboratory tests are conducted under identical conditions. This research offers several contributions: firstly, it introduces the innovative use of real‐time technology to represent AGV systems; secondly, it elucidates the potential connection between virtual reality and the physical model; and thirdly, it employs fluid motion techniques to illustrate and visualize driving performance. These findings hold significant promise not only for the advancement of smart warehouse management but also for the broader landscape of digital trade.

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Section: This Solution Offered the Reasonable Path Planning Algorithm...mentioning

confidence: 99%

Using EtherCAT technology to launch online automated guided vehicle manipulation with unity‐based platform for smart warehouse management

Nguyen,

Ngo

2023

IET Control Theory & Appl

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“…Emergence of high cooperation is a fascinating topic in the MAS control research area all along. Tremendous progress has been witnessed in recent years, including formation regulation [1,2], synchronization/consensus protocols [3,4] containment control [5,6], and circularmotion control [7,8].…”

Section: Introductionmentioning

confidence: 99%

Cooperative label-free moving target fencing for second-order multi-agent systems with rigid formation

Zhang

Yang

2023

Automatica

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“…In practical applications, such as robot control systems [21], vehicle guidance systems [22] and teleoperation systems [23], the system performance is often required to be reached in finite-time. Finite-time control has better control performance and faster convergence speed than infinite-time control, which attracted much attention of scholars [24][25][26].…”

Section: Introductionmentioning

confidence: 99%

Adaptive finite‐time control of multi‐agent systems with partial state constraints and input saturation via event‐triggered strategy

Huang

Xia

2022

IET Control Theory & Appl

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This paper focuses on the finite-time control problem of multi-agent systems with input saturation, unknown nonlinear dynamics, external disturbances and partial state constraints via output feedback. Fuzzy logic system and fuzzy state observer are introduced to approximate the uncertain nonlinearities and estimate the unmeasurable states, respectively. The partial state constraints are dealt with by using the barrier Lyapunov function, so that all states of the system do not exceed the preset boundary values. In order to reduce the computational complexity of the virtual controller and save communication resources, a first-order filter and an event-triggered mechanism are introduced, respectively. It is proved that the Zeno behavior does not occur via the proposed event-triggered controller. By stability analysis, the finite-time convergence of tracking error to a small neighborhood of the origin is proven. The effectiveness of the theoretical results is verified by examples.

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Passive Multiuser Teleoperation of a Multirobot System With Connectivity-Preserving Containment

Cited by 11 publications

References 66 publications

Using EtherCAT technology to launch online automated guided vehicle manipulation with unity‐based platform for smart warehouse management

Using EtherCAT technology to launch online automated guided vehicle manipulation with unity‐based platform for smart warehouse management

Cooperative label-free moving target fencing for second-order multi-agent systems with rigid formation

Adaptive finite‐time control of multi‐agent systems with partial state constraints and input saturation via event‐triggered strategy

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