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In this paper, we study the Complex Routing Problem (CRP), where several homogeneous robots need to visit given task locations to accomplish complex tasks in a cooperative setting. Each task location hosts a task. The complexity level of a task is defined as the number of robots that need to be simultaneously present at its location to accomplish it. The robots need to be routed so that all tasks...
Pneumatic muscles mimic function of human muscles and are used as robot actuators. The intelligent pneumatic muscle (IPM) with shape memory alloy (SMA) wires braided shell was proposed to improve characteristics. The mechanism was designed and prototype test-bench was made. Output force model was established through static force equilibrium analysis. The equation between temperature and contraction...
To solve the multi-robot task allocation (MRTA) especially in unknown complex environment, a novel dynamic algorithm was put forward with the advantages of wireless sensor network (WSN). The architecture and sensor fusion of WSN were discussed. Particle swarm optimization (PSO) algorithm based on bionic swarm intelligence was used for solution of the multi-objective optimization. A practical implementation...
The multi-robot task allocation (MRTA) especially in unknown complex environment is one of the fundamental problems, a mostly important object in research of multi-robot. The MRTA problem is initially formulated as a chance-constrained optimization problem. Monte Carlo simulation is used to verify the accuracy of the solution provided by the algorithm. Ant colony optimization (ACO) algorithm based...
Providing multimedia traffic support in distributed intelligent robot network (DIRN) as a kind of wireless sensor and actor network (WSAN) is addressed. Since multimedia traffic has stringent bounds on end-to-end delay resource reservation for transmitting such traffic has to be done. The existing methods used for multimedia traffic provide inefficient utilization of network resources and affect call...
Utilizing the advantages of wireless sensor network (WSN), this paper puts forward a novel dynamic obstacle avoidance algorithm used in unknown complex environment, which is a fundamental problem and important research area of mobile robots. In view of moving velocity and direction of both the obstacles and robots, a mathematic model is built based on the exposure model, exposure direction and critical...
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