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This paper describes the development of a multi-robot system for area reduction in humanitarian demining. In spite of the specific requirements imposed to the work being carried out by the humanitarian demining domain, the results being achieved can also be used in other domains such as surveillance and remote monitoring. A multi-agent based architecture is responsible for coordinating a progressive...
In the present work, an innovative nonlinear controller of nonholonomic mechanical systems, characterized by a dynamic not well known model a priori, using a new neural model obtained by the combination of a Petri net with a neural network is proposed. The performances of the control algorithm are evaluated for tasks of tracking of time trajectories. The study of the stability of the total system...
In near future, autonomous robots will be used in factories and offices. Since there are many stationary/moving obstacles in these environments, autonomous robots are require to make the path plans that can avoid moving objects such as people and robots. In this paper, we propose the path planning method to avoid the collisions with these obstacles. The proposed method consists of two planning steps...
This paper deals with the attitude control of an underwater robot for marine archaeology, which is being developed in the framework of the TECSIS project. The control scheme is based on the use of a fuzzy extension of a traditional PD feedback loop. The controller is implemented by using a LQG control for the linearized system, where the attitude control has been developed using quaternionic algebra...
There are so many researches on Autonomous Distributed Manufacturing Systems (ADMSs), where cooperation among agents is used to solve problems, such as scheduling problem and routing problem. We target ADMSs where an ADMS consists of two sub-systems: a Production System (PS) and an Autonomous Transportation System (ATS). This paper discusses an on-line Tasks Assignment and Routing Problem (TARP) for...
In many application fields, such as surveillance, monitoring, exploration, and rescuing, the use of multiple coordinated robot units seems to be the most convenient solution, in terms of costs, performance, and efficiency. In this paper we present a distributed real-time architecture for coordinating a set of mobile robot that have to operate according to a common objective. The interaction with the...
This work pretends to develop a robot for vigilance tasks that are able to tolerate diverse kinds of attacks and be able to operate in environments with elevated electromagnetic noise, being even immune to sabotage provoked by means of high electromagnetic fields. A new CAN based communications system that interconnects the different devices that compose the mobile robot has been developed to achieve...
The use of distributed computing architectures has become commonplace in complex embedded systems with potential advantages, for example, in terms of scalability, dependability and maintainability. One particular area in which that trend can be witnessed is mobile autonomous robotics in which several sensors and actuators are interconnected by means of a control network. In this paper we address one...
Autonomous mobile robots typically interact with unknown environments and are subject to many kinds of faults. Adaptive fault tolerance is the dynamic adjustment of behavior of a system, as a consequence of variation of external or internal conditions or changes in immediate goals. This work presents a methodology for the design of robot control including adaptive fault tolerance. We use the hybrid...
In the last years, in the area of bio-inspired robotics, the research activity has been directed to high level aspects that includes psychological theories and behavioral approaches. In this paper a new simulation tool for perceptive system based on the sensing-perception-action loop is proposed. The framework has been designed to evaluate the performance of control strategies applied to the navigation...
Localization is essential to modern autonomous robots in order to enable effective completion of complex tasks over possibly large distances in low structured environments. In this paper, a extended Kalman filter is used in order to implement self-localization. This is done by merging odometry and localization information, when available. The used landmarks are colored poles that can be recognized...
This paper presents the SC-MER, safety control for Mars exploration rover, an innovative traction control scheme for wheeled mobile vehicles. The system is thought to be used on space mission rovers and is based on fuzzy logic and competitive neural networks to achieve optimal navigation on rough terrain with variable morphology. The main goal of this research is to minimize the power consumption...
For mobile vehicle navigation in dynamic environments it is desirable that robots have a model of the dynamic aspects of the world. In this paper we present a method for detection and tracking of multiple moving objects using sensor information. The method uses particle filters to estimate objects states, and sample based joint probabilistic data association filters to perform the assignment of features...
In this paper a new kinematic and dynamic adaptive fuzzy control is applied to a trajectory tracking problem of a constrained vehicle with two independent wheels. The vehicle dynamics and kinematics are completely unknown. A dynamical and kinematical adaptive control provide to on line estimation of the dynamic and kinematic parameters of the vehicle model. Moreover the parameters of the kinematic...
This paper describes the design and implementation of a CAN time-triggered based communication protocol named SCoCAN, (shared channel on CAN), intended for use in distributed control systems, as is the case of autonomous mobile robots. This protocol enables real time communication between different intelligent nodes (sensors, actuators and controllers). The SCoCAN protocol has been implemented in...
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