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Dr Somasundar Kannan


Collision avoidance effects on the mobility of a UAV swarm using chaotic ant colony with model predictive control. (2018)
Journal Article
DENTLER, J., ROSALIE, M., DANOY, G., BOUVRY, P., KANNAN, S., OLIVARES-MENDEZ, M.A. and VOOS, H. 2019. Collision avoidance effects on the mobility of a UAV swarm using chaotic ant colony with model predictive control. Journal of intelligent and robotic systems [online], 93(1-2), pages 227-243. Available from: https://doi.org/10.1007/s10846-018-0822-8

The recent development of compact and economic small Unmanned Aerial Vehicles (UAVs) permits the development of new UAV swarm applications. In order to enhance the area coverage of such UAV swarms, a novel mobility model has been presented in previou... Read More about Collision avoidance effects on the mobility of a UAV swarm using chaotic ant colony with model predictive control..

Model predictive cooperative localization control of multiple UAVs using potential function sensor constraints: a workflow to create sensor constraint based potential functions for the control of cooperative localization scenarios with mobile robots. (2018)
Journal Article
DENTLER, J., KANNAN, S., BEZZAOUCHA, S., OLIVARES-MENDEZ, M.A. and VOOS, H. 2019. Model predictive cooperative localization control of multiple UAVs using potential function sensor constraints: a workflow to create sensor constraint based potential functions for the control of cooperative localization scenarios with mobile robots. Autonomous robots [online], 43(1), pages 153-178. Available from: https://doi.org/10.1007/s10514-018-9711-z

The global localization of multiple mobile robots can be achieved cost efficiently by localizing one robot globally and the others in relation to it using local sensor data. However, the drawback of this cooperative localization is the requirement of... Read More about Model predictive cooperative localization control of multiple UAVs using potential function sensor constraints: a workflow to create sensor constraint based potential functions for the control of cooperative localization scenarios with mobile robots..

Operational space control of a lightweight robotic arm actuated by shape memory alloy wires: a comparative study. (2017)
Journal Article
QUINTANAR-GUZMÁN, S., KANNAN, S., AGUILERA-GONZÁLEZ, A., OLIVARES-MENDEZ, M.A. and VOOS, H. 2019. Operational space control of a lightweight robotic arm actuated by shape memory alloy wires: a comparative study. Journal of intelligent material systems and structures [online], 30(9), pages 1368-1384. Available from: https://doi.org/10.1177/1045389x17721050

This article presents the design and control of a two-link lightweight robotic arm using shape memory alloy wires as actuators. Both a single-wire actuated system and an antagonistic configuration system are tested in open and closed loops. The mathe... Read More about Operational space control of a lightweight robotic arm actuated by shape memory alloy wires: a comparative study..

Towards an autonomous vision-based unmanned aerial system against wildlife poachers. (2015)
Journal Article
OLIVARES-MENDEZ, M.A., FU, C., LUDIVIG, P., BISSYANDÉ, T.F., KANNAN, S., ZURAD, M., ANNAIYAN, A., VOOS, H. and CAMPOY, P. 2015. Towards an autonomous vision-based unmanned aerial system against wildlife poachers. Sensors [online], 15(12), pages 31362-31391. Available from: https://doi.org/10.3390/s151229861

Poaching is an illegal activity that remains out of control in many countries. Based on the 2014 report of the United Nations and Interpol, the illegal trade of global wildlife and natural resources amounts to nearly $ 213 billion every year, which i... Read More about Towards an autonomous vision-based unmanned aerial system against wildlife poachers..

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