The status of representations in behavior based robotic systems: the problem and a solution

Author(s):  
G. Stojanov ◽  
S. Bazinovski ◽  
G. Trajkovski
Author(s):  
Gianluca Antonelli ◽  
Filippo Arrichiello ◽  
Stefano Chiaverini

AbstractThe paper presents an overview on the use of a behavior-based approach, namely the Null-Space-based Behavioral (NSB) approach, to control multi-robot systems in a wide application domain. The NSB approach has been recently developed to control the motion of generic robotic systems; it uses a projection mechanism to combine the multiple, prioritized, behaviors that compose the robotic mission so that the lower priority behaviors do not effect the higher priority ones. In this paper we describe how the NSB approach has been used to control different multi-robot systems (e.g., composed of wheeled and marine robots) to achieve missions such as formation control, entrapping/escorting of targets, control of mobile ad-hoc networks, flocking, border patrol and cooperative caging.


2010 ◽  
Vol 73 (16-18) ◽  
pp. 2829-2836 ◽  
Author(s):  
Ernesto Burattini ◽  
Massimo De Gregorio ◽  
Silvia Rossi

Author(s):  
L.J. Chen ◽  
Y.F. Hsieh

One measure of the maturity of a device technology is the ease and reliability of applying contact metallurgy. Compared to metal contact of silicon, the status of GaAs metallization is still at its primitive stage. With the advent of GaAs MESFET and integrated circuits, very stringent requirements were placed on their metal contacts. During the past few years, extensive researches have been conducted in the area of Au-Ge-Ni in order to lower contact resistances and improve uniformity. In this paper, we report the results of TEM study of interfacial reactions between Ni and GaAs as part of the attempt to understand the role of nickel in Au-Ge-Ni contact of GaAs.N-type, Si-doped, (001) oriented GaAs wafers, 15 mil in thickness, were grown by gradient-freeze method. Nickel thin films, 300Å in thickness, were e-gun deposited on GaAs wafers. The samples were then annealed in dry N2 in a 3-zone diffusion furnace at temperatures 200°C - 600°C for 5-180 minutes. Thin foils for TEM examinations were prepared by chemical polishing from the GaA.s side. TEM investigations were performed with JE0L- 100B and JE0L-200CX electron microscopes.


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