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Applied Sciences
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Automation in Mechatronic and Robotic Systems–Advanced Perception, Planning and Control
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Automation in Mechatronic and Robotic Systems–Advanced Perception, Planning and Control

A special issue of Applied Sciences (ISSN 2076-3417). This special issue belongs to the section "Robotics and Automation".

Deadline for manuscript submissions: 15 December 2024 | Viewed by 1702

Special Issue Editors

Dr. Slawomir Jan Stepien

E-Mail Website
Guest Editor
Poznan University of Technology, Institute of Automation and Robotics, Piotrowo 3a, 60-965 Poznan, Poland
Interests: applied automatic control and robotics; control theory; computational automatics
Special Issues, Collections and Topics in MDPI journals
Dr. Marcin Chodnicki

E-Mail Website
Guest Editor
Air Force Institute of Technology, Ksiecia Boleslawa 6, 01-494 Warsaw, Poland
Interests: aircraft systems design; control theory; signal processing; autopilot design
Dr. Wojciech Giernacki

E-Mail Website
Guest Editor
Department of Electrical Engineering, Institute of Control and Information Engineering, Poznan University of Technology, Poznań, Poland
Interests: modeling & control of UAVs
Prof. Dr. Dariusz Horla

E-Mail Website
Guest Editor
Institute of Robotics and Machine Intelligence, Faculty of Automatic Control, Robotics and Electrical Engineering, Poznan University of Technology, Poznan, Poland
Interests: control basics; theory and methods of optimization; adaptive and robust control

Special Issue Information

Dear Colleagues,

The aim of the Special Issue is to present recent advances in the control of unmanned aerial and mobile robotic systems and missile control and guidance, as well as to provide an open space for discussion on the methods used in the modeling, analysis, and synthesis of control systems, autopilot design, and sensor systems, including advanced perception solutions.  

Contributions submitted to this Special Issue can be dedicated to the theory of robotic systems in the analysis and design of existing and new constructions of control and perception systems and their industrial applications. They may also cover recent developments in mechatronic and robotic systems and their constrained control methods with advanced sensors. The proposed techniques and methods should be innovative and significant to the community interested in unmanned robotics and control engineering.

We are pleased to invite you to publish your latest work in the above fields. Contributing to this Special Issue will enhance the visibility of your research and achievements.

In this Special Issue, original research articles and reviews are welcome. Research areas may include (but not limited to) the following:

  1. Modern control theory and methods;
  2. The modelling of unmanned systems;
  3. Modern mobile and aerial robotics;
  4. Unmanned aerial vehicles;
  5. Unmanned ground vehicles;
  6. Aircraft and flight systems design;
  7. Missile modelling, control, and guidance;
  8. Autopilot design;
  9. Formations and swarms;
  10. Sensors and perception systems;
  11. The psychological effects on operators of unmanned systems.

Dr. Slawomir Jan Stepien
Dr. Marcin Chodnicki
Dr. Wojciech Giernacki
Prof. Dr. Dariusz Horla
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Applied Sciences is an international peer-reviewed open access semimonthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • modelling
  • control theory
  • mobile robotics
  • aerial robotics
  • unmanned aerial vehicles
  • unmanned ground vehicles
  • missile
  • sensors, perception systems

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Further information on MDPI's Special Issue polices can be found here.

Published Papers (3 papers)

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Research

19 pages, 11922 KiB  
Article
Changing the Formations of Unmanned Aerial Vehicles
by Krzysztof Falkowski and Maciej Kurenda
Appl. Sci. 2024, 14(22), 10424; https://doi.org/10.3390/app142210424 - 13 Nov 2024
Viewed by 235
Abstract
The development of hierarchical structures of unmanned aerial vehicles (UAVs) increases the efficiency of unmanned aerial systems. The grouping of UAVs increases the region of recognition or force of assault. Achieving these requirements is possible through a UAV formation. The UAVs in the [...] Read more.
The development of hierarchical structures of unmanned aerial vehicles (UAVs) increases the efficiency of unmanned aerial systems. The grouping of UAVs increases the region of recognition or force of assault. Achieving these requirements is possible through a UAV formation. The UAVs in the formation must be controlled and managed by a commander, but the commander cannot control individual UAVs. The UAVs within the formation have assigned specific individual tasks, so is possible to achieve the flight of the formation with minimum collisions between UAVs and maximized equipment utilization. This paper aims to present a method of formation control for multiple UAVs that allows dynamic changes in the constellations of UAVs. The article includes the results of tests and research conducted in real-world conditions involving a formation capable of adapting its configuration. The results are presented as an element of research for the autonomy swarm, which can be controlled by one pilot/operator. The control of a swarm consisting of many UAVs (several hundred) by one person is now a current problem. The article presents a fragment of research work on high-autonomy UAV swarms. Here is presented a field test that focuses on UAV constellation control. Full article
(This article belongs to the Special Issue Automation in Mechatronic and Robotic Systems–Advanced Perception, Planning and Control)
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17 pages, 6420 KiB  
Article
Hybrid Sampling-Based Path Planning for Mobile Manipulators Performing Pick and Place Tasks in Narrow Spaces
by Hanlin Chen, Xizhe Zang, Yanhe Zhu and Jie Zhao
Appl. Sci. 2024, 14(22), 10313; https://doi.org/10.3390/app142210313 - 9 Nov 2024
Viewed by 520
Abstract
A mobile manipulator is capable of traversing a vast area while performing manipulation tasks in confined spaces. However, the high degree of freedom presents a challenge for path planning. In this paper, a hybrid sampling-based path planning method is proposed for mobile manipulators [...] Read more.
A mobile manipulator is capable of traversing a vast area while performing manipulation tasks in confined spaces. However, the high degree of freedom presents a challenge for path planning. In this paper, a hybrid sampling-based path planning method is proposed for mobile manipulators performing pick and place tasks in confined spaces. This method employs a random sampling approach, yet differs from the traditional RRT method. Firstly, a sampling-based configuration generation method for mobile manipulators is proposed, with the objective of generating a valid, collision-free configuration with the end-effector at the desired pose. A path for the end-effector corresponding to the goal configuration is then planned using the RRT method. Secondly, an area-restricted approach that samples in the vicinity of the previous configuration is introduced to generate the next valid configuration. Subsequently, a cost computation rule is devised to identify the optimal subsequent configuration utilizing the trajectory of the end-effector as a guiding principle. Finally, the obtained path is smoothed. Simulations demonstrate that the proposed hybrid sample-based method is an effective solution to the path planning problem for mobile manipulators performing pick and place tasks in narrow spaces. Full article
(This article belongs to the Special Issue Automation in Mechatronic and Robotic Systems–Advanced Perception, Planning and Control)
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11 pages, 2189 KiB  
Article
Wind Source Localization System Based on a Palm-Sized Quadcopter
by Keisuke Yokota, Koh Hosoda and Shunsuke Shigaki
Appl. Sci. 2024, 14(15), 6425; https://doi.org/10.3390/app14156425 - 23 Jul 2024
Viewed by 657
Abstract
In this study, we implemented a compact wind direction sensor on a palm-sized quadcopter to achieve wind source localization (WSL). We designed an anemotaxis algorithm based on the sensor data and experimentally validated its efficacy. Anemotaxis refers to the strategy of moving upwind [...] Read more.
In this study, we implemented a compact wind direction sensor on a palm-sized quadcopter to achieve wind source localization (WSL). We designed an anemotaxis algorithm based on the sensor data and experimentally validated its efficacy. Anemotaxis refers to the strategy of moving upwind based on information on the wind direction, which is essential for tracing odors propagating through the air. Despite the limited research on quadcopter systems achieving WSL directly through environmental wind measurement sensors, debate remains regarding the relationship between sensor placement and the anemotaxis algorithm. Therefore, we experimentally investigated the placement of a wind direction sensor capable of estimating wind source direction even when propellers are rotating. Our findings demonstrated that placing the sensor 50 mm away from the enclosure of the quadcopter allowed accurate wind direction measurement without being affected by wake disturbances. Additionally, we constructed an anemotaxis algorithm based on wind direction and speed data, which we integrated into the quadcopter system. We confirmed the ability of the quadcopter to execute anemotaxis behavior and achieve WSL irrespective of environmental wind strength through wind source localization experiments. Full article
(This article belongs to the Special Issue Automation in Mechatronic and Robotic Systems–Advanced Perception, Planning and Control)
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