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Multi-robot cooperation is a critical technology for nanorobotics and nanomedicine. Because fluid velocity varies from position to position in blood fluid and nanorobots usually move passively and randomly with fluid to save their energy, it is very challenging for multiple nanorobots to cooperate in blood fluid. Considering these characteristics, this paper presents a nanorobot control algorithm...
This paper applies game theory to multi-robot hunting target problem. A coordinated multi-robot hunting model based on extended cooperation game is established. And obstacle avoidance model and two kinds of target searching strategies--roaming search and regional search are proposed. Then an effective escape strategy for the target is also presented. Finally the whole process of the hunting task is...
An improved multi-objective artificial bee colony algorithm is designed in this paper reflecting the multi-objective characteristic of multi-robot path planning problems. Firstly, the foraging mechanism is optimized and a new method to calculate crowding distance is proposed. The restructuring and elimination mechanism of food sources are also presented. Secondly, an improved environment map representation...
This paper presents a path planning and collision avoidance method based on artificial bee colony (ABC) optimization algorithm for multi-robot systems. Standard ABC algorithm can find a proper way for the robots quickly, but it still has shortcomings. An improved artificial bee colony optimization algorithm (IABC) is proposed to plan a reasonable collision-free path for each robot of a multi-robot...
This paper presents a cooperative, dynamic and complete information game scheme for socially multi-robot tracking. The concept of ‘variable order’ is introduced to specify the order of trackers' movement. A free competition model for multi-robot system is proposed to compute member robot's trajectory. A set of cost function are derived to evaluate the performance of tracking strategies optimally....
Multi-robot cooperation is a critical technology for nanorobotics and nanomedicine. This paper presents a nanorobot swarming algorithm based on Bacteria Foraging Optimization with the aim of eradicating cancer cells in blood vessels. In the algorithm, each nanorobot is considered as a bacterium with specified chemotaxis and swarming behavior. A simulation environment reflecting the property of concentration,...
Modelling of contact dynamics is a very essential step in dynamics simulation of robotics operation on space stations, e.g. extravehicular activities, assistances, assembly and maintenance of the station, etc. This paper presents an equivalent spring-damping contact model (ESDCM) to simulate the impacts between the end-effector of space manipulator and its environment, where the contact force is calculated...
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