Toward Safer Navigation of Heterogeneous Mobile Robots in Distributed Scheme: A Novel Time-to-Collision-Based Method.

For safe and efficient navigation of heterogeneous multiple mobile robots (HMRs), it is essential to incorporate dynamics (mass and inertia) in motion control algorithms. Many methods rely only on kinematics or point-mass models, resulting in conservative results or occasionally failure. This is especially true for robots with different masses.

Reliability-based robust dynamic positioning for a turret-moored floating production storage and offloading vessel with unknown time-varying disturbances and input saturation.

In this paper, we derived a mathematical model for a floating production storage and offloading (FPSO) vessel and its buoy mooring system and developed a new robust positioning controller to keep vessels in a desired region in the presence of unknown time-varying disturbances with uncertainties and input saturation. Different materials (chain and polyester) and buoys are considered in the model of mooring system to make the developed model more realistic. We employed a disturbance observer to estimate the disturbances and designed an auxiliary dynamic system integrated with the structural reliability's derivative to quantify the input saturation's influence, and its states are used to the control design.

A New Conflict Resolution Method for Multiple Mobile Robots in Cluttered Environments With Motion-Liveness.

This paper presents a new conflict resolution methodology for multiple mobile robots while ensuring their motion-liveness, especially for cluttered and dynamic environments. Our method constructs a mathematical formulation in a form of an optimization problem by minimizing the overall travel times of the robots subject to resolving all the conflicts in their motion. This optimization problem can be easily solved through coordinating only the robots' speeds.

Intelligent system design for bionanorobots in drug delivery.

A nanorobot is defined as any smart structure which is capable of actuation, sensing, manipulation, intelligence, and swarm behavior at the nanoscale. In this study, we designed an intelligent system using fuzzy logic for diagnosis and treatment of tumors inside the human body using bionanorobots. We utilize fuzzy logic and a combination of thermal, magnetic, optical, and chemical nanosensors to interpret the uncertainty associated with the sensory information.

On the stability of interval type-2 TSK fuzzy logic control systems.

Type-2 fuzzy logic systems have recently been utilized in many control processes due to their ability to model uncertainties. This paper proposes a novel inference mechanism for an interval type-2 Takagi-Sugeno-Kang fuzzy logic control system (IT2 TSK FLCS) when antecedents are type-2 fuzzy sets and consequents are crisp numbers (A2-C0). The proposed inference mechanism has a closed form which makes it more feasible to analyze the stability of this FLCS.