首页|Technical University Valencia (TU Valencia) Reports Findings in Robotics (Remote path-following control for a holonomic Mecanumwheeled robot in a resource-effi cient networked control system)
Technical University Valencia (TU Valencia) Reports Findings in Robotics (Remote path-following control for a holonomic Mecanumwheeled robot in a resource-effi cient networked control system)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-New research on Robotics is the subjec t of a report. According to news reporting out of Valencia, Spain, by NewsRx edi tors, research stated, "This paper introduces a novel resource-efficient control structure for remote path-following control of autonomous vehicles based on a c omprehensive combination of Kalman filtering, non-uniform dual-rate sampling, pe riodic event-triggered communication, and prediction-based and packet-based cont rol techniques. An essential component of the control solution is a non-uniform dual-rate extended Kalman filter (NUDREKF), which includes an h-step ahead predi ction stage." Our news journalists obtained a quote from the research from Technical Universit y Valencia (TU Valencia), "The prediction error of the NUDREKF is ensured to be exponentially mean-square bounded. The algorithmic implementation of the filter is straightforward and triggered by periodic event conditions. The main goal of the approach is to achieve efficient usage of resources in a wireless networked control system (WNCS), while maintaining satisfactory path-following behavior fo r the vehicle (a holonomic Mecanumwheeled robot). The proposal is additionally capable of coping with typical drawbacks of WNCS such as time-varying delays, an d packet dropouts and disorder. A Simscape Multibody simulation application reve als reductions of up to 93% in resource usage compared to a nomina l time-triggered control solution."
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