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Once the path of the vehicle and the desired task of the end-effector are predefined, in order to apply the optimal stability criterion, the manipulator should be redundant. In this paper, the goal is to find the position, angular velocity, and angular acceleration of the redundant link of the manipulator such that the entire system becomes optimally stable. By considering the full dynamic interaction between the manipulator and its vehicle, the stability issue becomes more complex. There are some measures of stability and one of them is the tire's upward force. This measure tries to equalize the upward forces of the tires that lead to optimal stability and better steer-ability. Optimizing... 

Flocking through leader following structures in mobile networks raises attractive control problems. Due to limited sensing radii, leaders locally influence a network of agents. In this paper, we consider the problem of real-time maximization of flocking velocity. By using local information and a Particle-Swarm-Optimization (PSO) algorithm, a Leader Agent (LA) actively motivates flocking at high speed. The LA manages topology of the network in its neighborhood and increases flocking velocity. PSO output quality and calculation costs show that the proposed optimization algorithm is practically feasible. A case-study is also presented  

Flocking through leader following structures in mobile networks raises attractive control problems. Due to limited sensing radii, leaders locally influence a network of agents. In this paper, we consider the problem of real-time maximization of flocking velocity. By using local information and a Particle-Swarm-Optimization (PSO) algorithm, a Leader Agent (LA) actively motivates flocking at high speed. The LA manages topology of the network in its neighborhood and increases flocking velocity. PSO output quality and calculation costs show that the proposed optimization algorithm is practically feasible. A case-study is also presented