| 1. |
- Norrlöf, Mikael, 1971-
(author)
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An Adaptive Iterative Learning Control Algorithm with Experiments on an Industrial Robot
- 2002
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In: IEEE transactions on robotics and automation. - Linköping : Linköping University Electronic Press. - 1042-296X. ; 18:2, s. 245-251
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Journal article (peer-reviewed)abstract
- An adaptive iterative learning control (ILC) algorithm based on an estimation procedure using a Kalman filter and an optimization of a quadratic criterion is presented. It is shown that by taking the measurement disturbance into consideration the resulting ILC filters become iteration-varying. Results from experiments on an industrial robot show that the algorithm is successful also in an application.
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| 2. |
- Norrlöf, Mikael, 1971-, et al.
(author)
-
Experimental Comparison of some Classical Iterative Learning Control Algorithms
- 2002
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In: IEEE transactions on robotics and automation. - Linköping : Linköping University Electronic Press. - 1042-296X. ; 18:4, s. 636-641
-
Journal article (peer-reviewed)abstract
- This letter gives an overview of classical iterative learning control algorithms. The presented algorithms are also evaluated on a commercial industrial robot from ABB. The presentation covers implicit to explicit model-based algorithms. The result from the evaluation of the algorithms is that performance can be achieved by having more system knowledge.
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| 3. |
- Weigel, T., et al.
(author)
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CS Freiburg : Coordinating Robots for Successful Soccer Playing
- 2002
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In: IEEE transactions on robotics and automation. - : IEEE. - 1042-296X. ; 18:5, s. 685-699
-
Journal article (peer-reviewed)abstract
- Robotic soccer is a challenging research domain because many different research areas have to be addressed in order to create a successful team of robot players. This paper presents the CS Freiburg team, the winner in the middle size league at RoboCup 1998, 2000 and 2001. The paper focuses on multi-agent coordination for both perception and action. The contributions of this work are new methods for tracking ball and players observed by multiple robots, team coordination methods for strategic team formation and dynamic role assignment, a rich set of basic skills allowing to respond to large range of situations in an appropriate way, an action selection method based on behavior networks as well as a method to learn the skills and their selection. As demonstrated by evaluations of the different methods and by the success of the team, these methods permit the creation of a multi-robot group, which is able to play soccer successfully. In addition, the developed methods promise to advance the state of the art in the multi-robot field.
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| 4. |
- Ögren, Petter, et al.
(author)
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A control Lyapunov function approach to multi-agent coordination
- 2002
-
In: IEEE transactions on robotics and automation. - : IEEE Robotics and Automation Society. - 1042-296X. ; 18:5, s. 847-851
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Journal article (peer-reviewed)abstract
- In this paper, the multiagent coordination problem is studied. This problem is addressed for a class of robots for which control Lyapunov functions can be found. The main result is a suite of theorems about formation maintenance, task completion time, and formation velocity. It is also shown how to moderate the requirement that, for each individual robot, there exists a control Lyapunov function. An example is provided that illustrates the soundness of the method
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