This paper studies the problem of coordinated motion generation for a group of rigid bodies. Two classes of coordinated motion primitives, relative equilibria and ma- neuvers, are given as building blocks for generati...This paper studies the problem of coordinated motion generation for a group of rigid bodies. Two classes of coordinated motion primitives, relative equilibria and ma- neuvers, are given as building blocks for generating coordi- nated motions. In a motion-primitive based planning frame- work, a control method is proposed for the robust execution of a coordinated motion plan in the presence of perturba- tions. The control method combines the relative equilibria stabilization with maneuver design, and results in a close- loop motion planning framework. The performance of the control method has been illustrated through a numerical sim- ulation.展开更多
Let V = {a1,a2 ,...,an} be a finite set with n ≥ 2 and Pn（V） the set of all primitive binary relations on V. For Q E Pn（V）, denote by G（Q） the directed graph corresponding to Q. For positive integer d ≤ n, let...Let V = {a1,a2 ,...,an} be a finite set with n ≥ 2 and Pn（V） the set of all primitive binary relations on V. For Q E Pn（V）, denote by G（Q） the directed graph corresponding to Q. For positive integer d ≤ n, let Pn（V, d） = {Q ： Q ∈ Pn（V） and G（Q） contains exactly d loops}. In this paper, it is proved that the set of common consequent indices of binary relations in Pn （V, d） is {1, 2,..., n -[d/2] }. Furthermore, the minimal extremal binary relations are described.展开更多
基金supported by the National Natural Science Foundation of China (11072002,10832006)
文摘This paper studies the problem of coordinated motion generation for a group of rigid bodies. Two classes of coordinated motion primitives, relative equilibria and ma- neuvers, are given as building blocks for generating coordi- nated motions. In a motion-primitive based planning frame- work, a control method is proposed for the robust execution of a coordinated motion plan in the presence of perturba- tions. The control method combines the relative equilibria stabilization with maneuver design, and results in a close- loop motion planning framework. The performance of the control method has been illustrated through a numerical sim- ulation.
基金Foundation item： the Natural Science Foundation of Jiangsu Province （No. BK2007030） the Natural Science Foundation of Education Committee of Jiangsu Province （No. 07KJD110207）.
文摘Let V = {a1,a2 ,...,an} be a finite set with n ≥ 2 and Pn（V） the set of all primitive binary relations on V. For Q E Pn（V）, denote by G（Q） the directed graph corresponding to Q. For positive integer d ≤ n, let Pn（V, d） = {Q ： Q ∈ Pn（V） and G（Q） contains exactly d loops}. In this paper, it is proved that the set of common consequent indices of binary relations in Pn （V, d） is {1, 2,..., n -[d/2] }. Furthermore, the minimal extremal binary relations are described.
