NDLI: Navigation of miniature legged robots using a new template

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2015 23rd Mediterranean Conference on Control and Automation (MED)

A proposal of methodology for multi-UAV mission modeling

Task-priority based task allocation of multiple UAVs with resource constraint

Vision based fuzzy control autonomous landing with UAVs: From V-REP to real experiments

A guidance reconfiguration strategy to handle aileron actuator fault

Optimal conflict resolution for multiple UAVs using pseudospectral collocation

Multi-UAV ground control station for gliding aircraft

Active learning for adaptive brain machine interface based on Software Agent

LPV water delivery canal control based on prescribed order models

Periodic disturbance compensation of an angular velocity drive-load servo control system with self-excited oscillations

Adaptive control of a master-slave system for teleoperated needle insertion under MRI-guidance

Bond graph model-based fault accommodation in power electronic systems

Dynamical modeling and optimal state estimation using Kalman-Bucy filter for a seamless two-speed transmission for electric vehicles

Predictive Cruise Control for energy saving in REEV using V2I information

Vehicle sideslip estimation using tyre force measurements

Flatness based control of nonlinear half-car active suspension system

Development of a compact regenerative braking system for electric vehicles

Influence of the temperature on the dry-clutch engagement control in gear-shift manoeuvres

Modeling and simulation of the short-term arterial pressure control system using an object oriented approach

An optimal control approach to reference level tracking in general anesthesia

A low cost smart glove for visually impaired people mobility

Stability analysis of cardiovascular regulation

Experimental architecture for synchronized recordings of cerebral, muscular and biomechanical data during lower limb activities

Receding horizon control of tumor growth based on optimal control

Fault detection with distributed PCA methods in water distribution networks

A robust ℋ∞ observer design for unknown input nonlinear systems: Application to fault diagnosis of a wind turbine

Sensors selection for K-diagnosability of Petri nets via Integer Linear Programming

A packet address driven test strategy for stuck-at faults in networks-on-chip interconnects

Comparative study of inter-turn short circuit fault in stator and rotor windings on a small and Medium Power Wound Rotor Induction Machine

Active fault tolerant control for pitch actuators failures tested in a hardware-in-the-loop simulation for wind turbine controllers

Design of fault isolation filter for control reconfiguration: Application to energy efficiency control in buildings

Adaptive Type-2 Fuzzy Sliding Mode Control for MIMO nonlinear systems: Application to a Turbocharged Diesel Engine

Robustness evaluation of real-time fuzzy logic control of the VGT and EGR on a diesel engine

Fault-tolerant control scheme based on reference adjustments for a 4WD electric vehicle with actuator faults and constraints

$H^{∞}$ criteria for robust actuator fault reconstruction for nonlinear systems in Takagi-Sugeno's form using sliding modes

Performance analysis of PI and PI+CI compensation for an IPDT process

Estimate of the farthest possible non-dominant pole locations with PID controllers

A Future Internet interface to control programmable networks

Optimal PID control in discrete time using a sensitivity function

Design of a teleoperated wall climbing robot for oil tank inspection

Study of dexterous robotic grasping for deformable objects manipulation

Steerability analysis on slopes of a mobile robot with a ground contact arm

Trajectory-tracking control design and modeling for quadrotor aerial vehicles

Dynamics-compatible potential fields using stochastic perturbations

PWM based modulation strategy with variable switching frequency for an active rectifier stage with flexible DC-voltage output

Decentralized frequency control of a DDG-PV Microgrid in islanded mode

A PSO-based MPPT re-initialised by incremental conductance method for a standalone PV system

Optimal switching Lyapunov-based control of a boost DC-DC converter

Multiple model predictive control of grid connected solid oxide fuel cell for extending cell life time

Leak isolation based on Extended Kalman Filter in a plastic pipeline under temperature variations with real-data validation

Actuator fault detection and isolation via input reconstruction: Application to intensified heat exchanger reactor

Rolling bearing fault diagnosis techniques - autocorrelation and cepstrum analyses

Development of synthesis method of fault tolerant systems for autonomous underwater robots with navigation sensors failures

Timed Discrete event system approach to online testing of asynchronous circuits

$I^{2}-diagnosability$ framework for detection of Advanced Stealth Man in the Middle attack in Wi-Fi networks

Multi-rate predictive cascade speed control of synchronous machines in automotive electrical traction drives

Two and a half carrots - a versatile and intuitive optimisation-based path-following approach for road vehicles

MPC implementation in a PLC based on Nesterov's fast gradient method

Cooperative Unmanned Aerial Vehicles formation via decentralized LBMPC

Robust model predictive control for discrete-time fractional-order systems

Solution of a singular infinite horizon zero-sum linear-quadratic differential game: A regularization approach

Improving accuracy of parallel SLICOT model reduction routines for stable systems

Stability of slowly rotating Timoshenko beam with two viscoelastic damping coefficients

Sensor parametrization and the sensor group

Incorporation of thermal expansion in static force modeling of Pneumatic Artificial Muscles

Modelling and control of the UPV/EHU stellarator

Identification of simple mass balance models for plant growth - evolving yields and incorporating developmental stages

Dynamics of differential entropy maximization process via the Speed Gradient principle

Modeling of a front end loader for control design

Bond graph model of a mechanically Pumped Biphasic Loop. (MPBL).

A model predictive control scheme for parallel-connected inverter-based distributed generators in micro-grids

Agent-based modelling of electric vehicle driving and charging behavior

Mitigation of oscillations in DFIG-based WECS operating in unbalanced networks

Electric vehicle trip planning integrating range constraints and charging facilities

Real time optimal power flow integrating large scale storage devices and wind generation

Sliding mode control for diesel generator via disturbance observer

Defensive state feedback control of asynchronous sequential machines

The feedback linearisation method for Embedded Model Control: The Borea project case-study

Error handling approach of a PEM fuel cell system by nonlinear model predictive control

Multivariable algebraic loops in linear anti-windup implementations

Experimental investigation of nonlinear controllers applied to a 3DOF hover: SMC via ALQR approach

Discrete and fluid Petri nets: Dealing with individuals, populations and fluidization

A dynamic game model of optimal stockpile management with price dynamics and constraints

Design, automation and control of a two-stage, two-load-demand experimental refrigeration plant

Application of fuzzy control on wastewater treatment plant for P-removal

Characterization and tuning of predictive SSOD-PI controllers

Event-based control for IPTD processes with simple tuning methods

Relaxed sufficient conditions for asymptotic stability for a class of underdamped nonautonomous Hamiltonian systems

An algorithmic approach for lessening conservativeness of criteria determining absolute stability

Control strategies for ammonia violations removal in BSM1 for dry, rain and storm weather conditions

Temperature control of a solar tower receiver based on the Lyapunov method

Extension of the observability rank condition to nonlinear systems driven by unknown inputs

RISE-Backsteppping feedback control for induction machine in electric vehicle applications

Visual landing insensitive to the depth with velocity and control constraints: A twisting based solution

Disturbance attenuation problem for overactuated systems with actuator saturation: A control allocation based approach

Hybrid visual servoing for aerial grasping with hierarchical task-priority control

Flexible membrane wing warping using tendon-sheath mechanism

Monocular image parameter-based aircraft sense and avoid

Stochastic linear systems: Robust H∞ control via vertex-dependent approach

Robust D-stability via discrete controllers for continuous time uncertain systems using LMIs with a scalar parameter

Robust control strategies of stick-slip type actuators for fast and accurate nanopositioning operations in scanning mode

Design of a robust discrete time sliding mode repetitive controller

Robust set invariance and contractivity of discrete-time systems: The generators approach

Visual navigation of mobile robots for autonomous patrolling of indoor and outdoor areas

Sampling-based receding horizon collision-free control for a class of Micro Aerial Vehicles

The Power-over-Tether system for powering small UAVs: Tethering-line tension control synthesis

Output feedback control of Micro Aerial Vehicle in indoor environment

Flat trajectory generation for way-points relaxations and obstacle avoidance

Optimal design and modeling of a tilt wing aircraft

Support vector machines for determination of an operational strategy for hybrid electric vehicles

Nash tuning for optimal balance of the servo/regulation operation in robust PID control

On guaranteeing passivity and performance with a human controller

A robust eigenvalue assignment approach to integrated system and control design

State of charge estimation based on extened Kalman filter algorithm for Lithium-Ion battery

Incorporating feedback predictions for optimized UAV attack mission planning

Automatic detection of surgical gauzes using Computer Vision

Fast 3D object matching with Projection Density Energy

A low-cost stereoscopic µP-based vision system for industrial light objects grasping

Occupancy grids generation based on Geometric-Featured Voxel maps

Set-based direct visual servoing for nanopositioning

Efficiency boosting for PV systems using new MPPT method

System of Systems theory as a new perspective on building control

Loop-shaping control of high-step converters for fuel-cell applications

Solar membrane distillation: A control perspective

Real-time estimation of thermal comfort indices in an office building with a solar powered HVAC system

AR+ noise versus AR and ARMA models in SHM-oriented identification

Dynamical metabolic modelling for lipid accumulation by Yarrowia lipolytica growing on glucose

Realizing system poles identification on the unit disc based on the Fourier trasform of Laguerre-coefficients

Identification of flexible wing aircraft models using hyperbolic metrics

Combined stochastic and deterministic interval predictor for time-varying systems

Neural network identification of wastewater treatment plants

Collision avoidance strategies for quadrotors in tight formation flying

Design, modeling and control of a 5-DoF light-weight robot arm for aerial manipulation

Robust control for multi-model planar robots coordination

Multi-rotor robust trajectory tracking

Implementation of Unmanned Ground Vehicle navigation in Wireless Sensor and Actuator Networks

Effects of permanent bounded cyber-attacks on networked control systems

Modelling spatial surface pellet distribution from rotary pneumatic feed spreaders

A model-based embedded control hardware/software co-design approach for optimized sensor selection of industrial systems

A simulation model for a Cash Concentration and Disbursements System

A Unifying Decision-Making Framework to study secrecy in decentralized discrete event systems

A new practical ARC-Shaped fractional order hold

A fusion Fuzzy PID controller with real-time implementation on a ship course control system

Fixed order ℋ∞ controller for quarter car active suspension system

Control of disturbed systems with measurement delays: Application to quadrotor vehicles

Extremum-seeking control with anticipative action of microbial fuel cell's power

Motion planning in dynamic environments with bounded time temporal logic specifications

Position guided local routing and reconfiguration in mobile telecommunication networks with scale-free topology

A lightweight sensor scheduling algorithm for clustered wireless sensor networks

Specification based IDS for camouflaging wormhole attack in OLSR

A rapid deployment wireless sensor network for sustainable urban mobility

Open cloud solution for integrating advanced process control in plant operation

A QoE-aware dynamic bandwidth allocation algorithm based on game theory

Experimental evaluation of second sliding modes observer and Extended Kalman Filter in a sensorless robust control of Switched Reluctance Motor for EV application

Musical tempo octave error reducing based on the statistics of tempogram

A fuzzy controller for visual comfort inside a meeting-room

Gait generation through a feature based linear periodic function

Geometrically constrained path planning with Fast Marching Square

A new control allocation method for power converters and its application to the four-leg two-level inverter

Leader-follower tracking with prescribed transient and steady state performance guarantees for a class of unknown nonlinear multi-agent systems

Distributed consensus networks of neutral type

Non-fragile H∞ consensus of linear multi-agent systems with interval-bounded variations

A Q-Learning based approach to Quality of Experience control in cognitive Future Internet networks

A distributed analysis and design method for the synchronization of linear heterogeneous SISO systems by static state control

Throughput optimality of extended back-pressure traffic signal control algorithm

State estimator synthesis for position dependent flexible systems with position independent error convergence

Smoothly adjustable autonomy for the low-level remote control of mobile robots that is independent of the navigation algorithm

An algorithm with low computational requirements to constrain the Shapley value in coalitional networks

Profiled QoE based network controller

Incorporating set-based control within the singularity-robust multiple task-priority inverse kinematics

A two-stage control scheme of single-link flexible manipulators

Towards achieving rolling contact motion in a spherical robotic fingertip

Navigation of miniature legged robots using a new template

A complete epidemiological model of a class of genetic diseases

Energy efficiency of underwater snake robot locomotion

Model reduction and process analysis of biological models

Computing core reactions of uncertain polynomial kinetic systems

Position tracking controller based on transformed equations of horizontal motion for a class of vehicles

A class of decentralized robust controllers of uncertain large scale time-delay systems with unknown upper bounds of uncertainties

Low level control of an omnidirectional mobile robot

Analyzing limits of one type of disturbance observer based PI control by the performance portrait method

Fractional order controllers for urban wastewater treatment systems

Single-step feedback linearization with assignable dynamics for hyperbolic PDE

LMI based output PS control design for discrete-time linear MIMO systems

Active Tuned Mass Damper

Level control of a coupled-tank system via eigenvalue assignment and LQG control

Enhancement of a commercial multicopter for research in autonomous navigation

Full building of a sun tracker and control

Table of contents

MED 2015 author index

Comparison of management methods for storage systems in wind parks

22nd Mediterranean Conference on Control and Automation

21st Mediterranean Conference on Control and Automation

2012 20th Mediterranean Conference on Control & Automation (MED)

2011 19th Mediterranean Conference on Control & Automation (MED)

18th Mediterranean Conference on Control and Automation, MED'10

2009 17th Mediterranean Conference on Control and Automation

2008 16th Mediterranean Conference on Control and Automation

2007 Mediterranean Conference on Control & Automation

2006 14th Mediterranean Conference on Control and Automation

Navigation of miniature legged robots using a new template

Content Provider	IEEE Xplore Digital Library
Author	Karydis, K. Yan Liu Poulakakis, I. Tanner, H.G.
Copyright Year	2015
Description	Author affiliation: Dept. of Mech. Eng., Univ. of Delaware, Newark, DE, USA (Karydis, K.; Yan Liu; Poulakakis, I.; Tanner, H.G.)
Abstract	This paper contributes to the area of miniature legged robots by investigating how a recently introduced bio-inspired template for such robots can be used for navigation. The model is simple and intuitive, and capable of capturing the salient features of the horizontal-plane behavior of an eight-legged miniature robot. We validate that the model can be combined with readily available navigation techniques, and then use it to plan the motion of the eight-legged miniature robot, which is tasked to crawl at low speeds, in obstacle-cluttered environments.
Starting Page	1112
Ending Page	1117
File Size	1501880
Page Count	6
File Format	PDF
ISBN	9781479999361
DOI	10.1109/MED.2015.7158905
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-06-16
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion template-based navigation Navigation Biological system modeling Kinematics templates Miniature legged robots Trajectory
Content Type	Text
Resource Type	Article

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