Objective
Nonholonomic Robotic Systems are a class of system with significant practical and theoretical interest, where nonholonomic constraints restrict the instantaneous motion of the system. Robotic systems in this class, include wheeled mobile robots, orbiting spacecraft equipped with manipulator arms and dextrous robotic hands manipulating objects. The presence of nonholonomic constraints makes problematic the application of traditional Control, Sensing and Motion Planning schemes for mobile robots with on-board sensors.
The extension of visual servoing and, in particular, of the task function framework to nonholonomic mobile robotic systems is the primary objective of this project. This will be attempted by exploiting novel control-theoretic advances in the closed-loop control of these systems. It is expected that the first 9 months of the project will be devoted to a review of the state of the art in this area, to establishing the theoretical framework of this approach and to testing it by computer simulations, while the remaining 3 months will be devoted to implementations and experiments with ICARE's experimental testbed, a mobile nonholonomic cart. carrying a hand-eye system and a sonar belt.
Fields of science (EuroSciVoc)
CORDIS classifies projects with EuroSciVoc, a multilingual taxonomy of fields of science, through a semi-automatic process based on NLP techniques. See: The European Science Vocabulary.
CORDIS classifies projects with EuroSciVoc, a multilingual taxonomy of fields of science, through a semi-automatic process based on NLP techniques. See: The European Science Vocabulary.
- engineering and technology mechanical engineering vehicle engineering aerospace engineering astronautical engineering spacecraft
- engineering and technology electrical engineering, electronic engineering, information engineering electronic engineering sensors
- natural sciences mathematics applied mathematics mathematical model
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Programme(s)
Multi-annual funding programmes that define the EU’s priorities for research and innovation.
Multi-annual funding programmes that define the EU’s priorities for research and innovation.
Topic(s)
Calls for proposals are divided into topics. A topic defines a specific subject or area for which applicants can submit proposals. The description of a topic comprises its specific scope and the expected impact of the funded project.
Calls for proposals are divided into topics. A topic defines a specific subject or area for which applicants can submit proposals. The description of a topic comprises its specific scope and the expected impact of the funded project.
Call for proposal
Procedure for inviting applicants to submit project proposals, with the aim of receiving EU funding.
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Procedure for inviting applicants to submit project proposals, with the aim of receiving EU funding.
Funding Scheme
Funding scheme (or “Type of Action”) inside a programme with common features. It specifies: the scope of what is funded; the reimbursement rate; specific evaluation criteria to qualify for funding; and the use of simplified forms of costs like lump sums.
Funding scheme (or “Type of Action”) inside a programme with common features. It specifies: the scope of what is funded; the reimbursement rate; specific evaluation criteria to qualify for funding; and the use of simplified forms of costs like lump sums.
Coordinator
06902 Sophia-Antipolis
France
The total costs incurred by this organisation to participate in the project, including direct and indirect costs. This amount is a subset of the overall project budget.