Hydrothermal bitumen generated from sedimentary organic matter of rift lakes - Lake Chapala, Citala Rift, western Mexico

This paper proposes a control algorithm for networks of multiple heterogeneous robot manipulators, which solves the leader-follower and the leaderless consensus problems in the operational space. In the leader-follower scenario, the controller ensures that all the robots in the network asymptotically reach a given leader pose (position and orientation), provided that, at least, one follower robot has access to the leader pose. Without a leader pose, in the leaderless problem, the robots asymptotically reach a pose of consensus. The controller is a simple distributed proportional plus damping injection (P+d) scheme which does not require velocity measurements. A singularity-free representation, unit quaternions, is used to describe the orientation of each manipulator. The paper presents some simulations, with a network of six 6-Degrees-of-Freedom (DoF) manipulators, and experiments, with a network of three 6-DoF manipulators, to show the effectiveness of the proposed controller. " 2013 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.",,,,,,"10.1016/j.jfranklin.2013.11.012",,,"http://hdl.handle.net/20.500.12104/43370","http://www.scopus.com/inward/record.url?eid=2-s2.0-84894069935&partnerID=40&md5=45ca68f1cdd3ee64e00b3b3830c1ceca",,,,,,"3",,"Journal of the Franklin Institute",,"151