Work meeting Interreg SYSIASS project 24 th June 2011 ISEN 1 Part-financed by the European Regional Development Fund

Summary of Activity 1 December 2010 – June 2011 Sub-action 1 : Definition of the specificities and functionalities of the wheelchair prototypes – Questionnaire: ISEN & GHICL & EKHUFT Sub-action 2 : Instrumentation (sensors, actuators, computer interface) and data processing scheme to achieve wheelchair – ISEN and EC Lille: Instrumentation of the wheelchair, localisation – Kent: the work on Neuronal Network, something else? – Essex: instrumentation of the wheelchair Sub-action3: System modelisation and off-line and on-line parameter identification – Sarah? 2

Summary of Activity 1 December 2010 – June 2011 Sub-action 4 : Design of path planning and robust trajectory tracking algorithms, under optimality criteria (minimum loss of energy, minimum time for displacement…) and under constraints (static and dynamic obstacles avoidance, keeping the communication links, limited information…). – ISEN & EC Lille: path planning – Kent (Sarah, Michael, Ben) – Essex ? Sub-action 5 : Elaboration of the navigation strategies in order to avoid the collision between the intelligent wheelchair and obstacles and to guarantee a safe functioning – ISEN & EC Lille – Kent, Essex? 3

Summary of Activity 1 December 2010 – June 2011 Sub-action 6 : Numerical implementation, tests and validation of the algorithms on the test bench – The first scenario implemented on the ISEN wheelchair List of publications – H. Sert, A. Kokosy and W. Perruquetti, A single landmark based localization algorithm for non-holonomic mobile robots, IEEE ICRA, Shangai, China, May 2011 – S. Govindaswamy, T. Floquet, S. K Spurgeon, Discrete time Output Feedback Sliding Mode Control for Uncertain Systems, IFAC World Congress, August 2011 – H. Sert, A. Kokosy, J. Xin and W. Perruquetti, Decentralized Cooperative Navigation Strategy for an Autonomous, submitted to IEEE IROS’2011 4