Ruifeng Fan

Underwater Target Tracking Algorithm Based on Optical Flow

Xinyan Yin, Song Wu, Ying Liu, Zihang Qin et autres

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Collision-free Circle Formation Control for Mobile Robots with Velocity Constraints

Chen Wang, Shuai Li, Ruifeng Fan, Jinan Sun et autres

Circle formation is a type of cooperative task for multiple mobile robots that attracts lots of attentions in both research work and engineering applications. In order to be successfully applied to robots, many factors, such as collision avoidance, velocity or acceleration constraints, …

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Finite-time Circle Formation Control with Collision Avoidance

Chen Wang, Shuai Li, Ruifeng Fan, Jinan Sun et autres

In this paper, we study the finite-time circle formation control problem for multiple agents, where each agent is moving freely in a plane and is merely able to perceive the relative position information of a given target and its neighbors, with the …

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Distributed Circle Formation Control for Quadrotors Based on Multi-agent Deep Reinforcement Learning

Baowei Li, Shuai Li, Chen Wang, Ruifeng Fan et autres

Multi-rotor unmanned aerial vehicles (UAVs) have been increasingly used in both civil and military applications in recent years, and it is difficult for a single multi-rotor UAV to accomplish a specific task due to the load and range limitations. In this paper, …

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Obstacle Avoidance Algorithm of Simulation Robotic Fish Based on Ant Colony Algorithm

Given Name Surname, Jiaqi Huang, Song Wu, Ruifeng Fan

In order to realize fast obstacle avoidance and tracking of robotic fish in the competition situation, and realize the rapid and accurate adjustment of robotic fish in the water environment without special intervention, a motion strategy of obstacle avoidance and tracking based …

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General formation control for multi-agent systems with double- integrator dynamics

Chen Wang, Weiguo Xia, Jinan Sun, Ruifeng Fan et autres

We study the general formation problem for a group of mobile agents in a plane, in which the agents are required to maintain a distribution pattern, as well as to rotate around or remain static relative to a static/moving target. The prescribed …

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General formation control for multi-agent systems with double-integrator dynamics

Chen Wang, Weiguo Xia, Jinan Sun, Ruifeng Fan et autres

We study the general formation problem for a group of mobile agents in a plane, in which the agents are required to maintain a distribution pattern, as well as to rotate around or remain static relative to a static/moving target. The prescribed …

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Artificial lateral line based local sensing between two adjacent robotic fish

Xingwen Zheng, Chen Wang, Ruifeng Fan, Guangming Xie

The lateral line system (LLS) is a mechanoreceptive organ system with which fish and aquatic amphibians can effectively sense the surrounding flow field. The reverse Kármán vortex street (KVS), known to be a typical thrust-producing wake, is commonly observed in fish-like locomotion …

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CSMA/CA-based electrocommunication system design for underwater robot groups

Han Zhang, Wei Wang, Yang Zhou, Chen Wang et autres

Underwater communication is particularly challenging for small submarine robots that have limited power and size constraints. Inspired by weakly electric fish, a novel electric current communication (termed electrocommunication) system has been developed for small underwater robots in our previous studies. However, collision …

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Model identification for the yaw motion of a tail-actuated robotic fish

Han Zhang, Wei Wang, Yingzheng Qu, Chen Wang et autres

System model is fundamental for accurate motion control of the robot. However, due to the complexity of aquatic environments and the special fin-driven structure, it is difficult to dynamically model the system of robotic fish. This paper proposes an experimental modeling method …

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Exploring the backward swimming ability of a robotic fish

Liang Li, Chen Wang, Ruifeng Fan, Guangming Xie

This article investigates the capability for backward swimming of a carangiform-fish-like robot with only three joints. A simple dynamic model based on a fixed point, a point in the body without perpendicular oscillation, is first developed to analyze the feasibility of backward …

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Communication distance correlates positively with emitter current in underwater electric current communication

Yang Zhou, Wei Wang, Hanbo Deng, Chen Wang et autres

Underwater communication is challenging for small underwater robots that have stringent power and size constraints. In our previous work, we have demonstrated that electric current communication is an alternative method for small underwater robot communication. This paper studies how the emitter current …

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