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Communication network fault-tolerant control for coordinated movement of heterogeneous robots

Grant number: 15/20531-6
Support type:Scholarships in Brazil - Doctorate
Effective date (Start): December 01, 2015
Effective date (End): February 29, 2016
Field of knowledge:Engineering - Electrical Engineering - Industrial Electronics, Electronic Systems and Controls
Principal researcher:Marco Henrique Terra
Grantee:Willian Martins Leão
Home Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil

Abstract

In this project it is proposed the development of a communication network fault-tolerant control for coordination of wheeled mobile robots (WMR) and a quadcopter. Two approaches will be considered to networked systems: the first is a filter for Markovian Jump Linear Systems to deal with package losses and the second is a state feedback switched controller to solve delay problems in the data transmission.

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