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Full-Text Articles in Physical Sciences and Mathematics
Formation Control Of Nonholonomic Mobile Robots Using Implicit Polynomials And Elliptic Fourier Descriptors, Yeşi̇m Hümay Esi̇n, Mustafa Ünel
Formation Control Of Nonholonomic Mobile Robots Using Implicit Polynomials And Elliptic Fourier Descriptors, Yeşi̇m Hümay Esi̇n, Mustafa Ünel
Turkish Journal of Electrical Engineering and Computer Sciences
This paper presents a novel method for the formation control of a group of nonholonomic mobile robots using implicit and parametric descriptions of the desired formation shape. The formation control strategy employs implicit polynomial (IP) representations to generate potential fields for achieving the desired formation and the elliptical Fourier descriptors (EFD) to maintain the formation once achieved. Coordination of the robots is modeled by linear springs between each robot and its two nearest neighbors. Advantages of this new method are increased flexibility in the formation shape, scalability to different swarm sizes and easy implementation. The shape formation control is first …
On Weakly M-Supplemented Primary Subgroups Of Finite Groups, Long Miao, Wolfgang Lempken
On Weakly M-Supplemented Primary Subgroups Of Finite Groups, Long Miao, Wolfgang Lempken
Turkish Journal of Mathematics
A subgroup H of a group G is said to be weakly M-supplemented in G if there exists a subgroup B of G provided that (1) G=HB, and (2) if H_1/H_G is a maximal subgroup of H/H_G, then H_1B=BH_1