This work presents an approach to solving the inverse kinematics of mobile dual-arm robots based on metaheuristic optimization algorithms. First, a kinematic analysis of a mobile dual-arm robot is presented. Second, an objective function is formulated based on the forward kinematics equations. The kinematic analysis does not require using any Jacobian matrix nor its estimation; for this reason, the proposed approach does not suffer from singularities, which is a common problem with conventional inverse kinematics algorithms. Moreover, the proposed method solves cooperative manipulation tasks, especially in the case of coordinated manipulation. Simulation and real-world experiments were performed to verify the proposal’s effectiveness under coordinated inverse kinematics and trajectory tracking tasks. The experimental setup considered a mobile dual-arm system based on the KUKA^® Youbot^® robot. The solution of the inverse kinematics showed precise and accurate results. Although the proposed approach focuses on coordinated manipulation, it can be implemented to solve non-coordinated tasks.

Mobile robots commonly have to traverse rough terrains. One way to find the easiest traversable path is by determining the types of terrains in the environment. The result of this process can be used by the path planning algorithms to find the best traversable path. In this work, we present an approach for terrain classification from aerial images while using a Convolutional Neural Networks at the pixel level. The segmented images can be used in robot mapping and navigation tasks. The performance of two different Convolutional Neural Networks is analyzed in order to choose the best architecture.

The main steps involved in a fault-tolerant control (FTC) scheme are the detection of failures, isolation and reconfiguration of control. Fault detection and isolation (FDI) is a topic of interest due to its importance for the controller, since it provides the necessary information to adjust and mitigate the effects of the fault. Generally, the most common failures occur in the actuator or in sensors, so this article proposes a novel model-free scheme for the detection and isolation of sensor and actuator faults of induction motors (IM). The proposed methodology performs the task of detecting and isolating faults over data streams just after the occurrence of the failure of an induction motor (IM), by the occurrence of either disconnection, degradation, failure, or connection damage. Our approach proposes deep neural networks that do not need a nominal model or generate residuals for fault detection, which makes it a useful tool. In addition, the fault-isolation approach is carried out by classifiers that differentiate characteristics independently of the other classifiers. The long short-term memory (LSTM) neural network, bidirectional LSTM, multilayer perceptron and convolutional neural network are used for this task. The proposed sensors’ and actuator’s fault detection and isolation scheme is simple. It can be applied to various problems involving fault detection and isolation schemes. The results show that deep neural networks are a powerful and versatile tool for fault detection and isolation over data streams.

In complex dynamical networks, pinning control techniques are often applied to control a small fraction of the nodes in order to stabilize the network with reduced control effort and energy, facilitating adequate development of the complex network. Selecting the controlled nodes is a key challenge to achieving optimal performance. Theoretical analysis of the network provides the minimum quantity of nodes to control but does not specify which ones should be controlled. Analytically, controllability analysis of the entire network would be ideal, but this becomes difficult for complex networks with a large number of nodes and non-linear dynamics. Another option is to evaluate all possible combinations with the minimum number of necessary nodes or the nodes that can be controlled, but this presents a computational challenge due to the large number of possible combinations. Therefore, the remaining option is the use of metaheuristic algorithms for the rapid and practical evaluation of these combinations. In this work, we propose to optimize the selection of nodes for pinning control based on binary optimization algorithms, subject to control and development constraints. The proposed approach involves finding a binary combination with a fixed number of controlled nodes that best stabilizes the network state to zero. This paper includes a comparative study among state-of-the-art binary optimization algorithms and modified classic optimization algorithms. The applicability of the proposed approach is validated through simulations considering a dynamical discrete-time complex network.

In this paper, a consensus-based formation control strategy is presented, subject to area constraints and collision avoidance. To achieve a desired formation pattern, a control law is proposed that incorporates a vertex-tension function along with signed area constraints. The vertex-tension function provides the capabilities of collision avoidance among agents. Moreover, signed area constraints avoid local minimum stagnation and mitigate ambiguities within the formation shape. Additionally, the proposed approach can be implemented considering a group of differential-drive mobile robots in both centralized and decentralized settings. Simulation and real-world experiments are performed to validate the effectiveness of the proposed approach, where the experimental setup includes a multi-robot system composed of Turtlebot3^® Waffle Pi robots.

Complex networks have become a fundamental paradigm for modeling real-world systems. Synchronization of such networks, particularly under hyperchaotic dynamics, presents a significant control challenge due to the high-dimensional state space and multiple positive Lyapunov exponents. This paper addresses the driver node selection problem in a 4D Hyperchaotic Lorenz complex network, formulating it as a constrained binary optimization task. We evaluate a pool of advanced metaheuristics, including the quantum genetic algorithm (QGA), seahorse optimizer (SHO), and artificial bee colony (ABC), across multiple network experiments conducted over 30 independent runs to guarantee statistical validity. The performance of these solvers is rigorously benchmarked against traditional topological heuristics, a random selection baseline comprising 600 feasible configurations, and verified through Wilcoxon statistical testing. Furthermore, addressing computational sustainability, we introduce a “Green-Artificial Intelligence” architecture based on dual-tier structured query language memoization (SQL-memoization) and provide a detailed runtime comparison evaluating its efficiency. The empirical results indicate that swarm-intelligence methods such as ABC and SHO exhibit robust competitive performance in minimizing synchronization errors while the Green-AI framework consistently and drastically reduces the computation of the repetitive simulations.