Intelligent transportation, and in particular, fleet management, has been a forefront concern for a plethora of industries. This statement is especially true for the production of commodities, where transportation represents a central element for …
Mobile robot systems are being used more often in tasks that protect human operators from dangerous environments, but these benefits can be easily lost if the robots spend much of their time being repaired. This implies that any increment in their …
This work presents an architecture that can help to increase the reliability in groups of cooperative mobile robots by taking advantage of analytical and sensor redundancy. First, the design of the architecture is portrayed and the faults to be …
The performance of model based fault detection and isolation systems can be improved by designing more accurate estimation methods. This work presents a novel implementation of a nonlinear Kalman filter based on the Takagi-Sugeno (TS) fuzzy …
The use of mobile robots has increased over the last years in a wide range of applications, which go from industrial work to more domestic tasks, such as vacuum cleaning or grass cutting. Due to the benefits that these systems bring and the …
In order to reduce the false alarms in fault detection systems for mobile robots, accurate state estimation is needed. Through this work, a new method for localization of a mobile robot is presented. First, a Takagi-Sugeno fuzzy model of a mobile …
This work presents both a novel control scheme for a mobile robot and an optimization method for improving its performance. The analyzed control problem will be to move a two-wheeled robot from an initial posture to a final destination using the …
This work presents a new guidance system for a two independent wheeled mobile robot, based on fuzzy logic, which offers several advantages over the most known controllers. Two control problems will be analyzed: moving the robot from one point to …