Discrete event systems based formation control framework to coordinate multiple nonholonomic mobile robots
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Bibliographic record
Abstract
This paper describes a leader-follower based formation control framework to coordinate multiple nonholonomic mobile robots. The proposed strategy deploys a control theoretic bottom-up approach where, continuous controllers are coordinated by a supervisory controlled discrete event system. All the mobile robots are required to navigate in an obstacle populated environment. And the followers keep a predetermined geometric formation with the leader while being adaptable to the constraints imposed by obstacles on the environment. The low level control is achieved by a set of behavior based controller with a high-level discrete event system that manages the dynamic interaction with the external environment. The use of discrete event systems reflects a modular manageable system with the potential for scalability and reusability. The proposed system is implemented through simulation and the results are shown to verify its operation.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it