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For biped pole-climbing robots (BiPCRs), footholds, indicating a sequence of discrete gripping points from the start to the goal, are necessary for travelling in trussed environments. Graspable region in each climbing cycle is the valuable priori knowledge for consideration of selecting specific grasping point. However, how to evaluate all the grasps within the graspable region so as to provide a...
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...
Recently, the control of telepresence robots is still a challenge for researchers. In this paper, we propose a method to realize a more natural assisted navigation for telepresence robots during teleoperation. Different from existing approaches, the proposed method utilizes an omni-directional chassis which is realized by a three wheels drive (3WD) mechanism. Without using any expensive 3D sensing...
This paper presents a novel approach to path planning for the formation of a swarm of autonomous robots to track a moving target in an unknown environment. This approach is based on the traditional potential fields combined with the rotational vector field. The potential field is used to repel the robots away from obstacles while the rotational vector field is added to drive robots to avoid obstacles...
In this paper, we analyze a formation control problem of two disk-shaped holonomic mobile robots without collision each other. We show that the tracking control problem can be reduced to sample stabilization of the origin of the nonlinear system defined on noncontractible manifold by exact linearization via coordinate transformation. We propose a tracking control method which is applying the Rifford-Sontag...
In this paper, we present a self-deployment strategy for a swarm of robots that is capable of exploring and identifying victims in an unknown structured building environment while preserving a global network interConnectivity for information exchange. The strategy are conducted in two phases: self-displacement shifting the robotic swarm from room to room, and self-dispersion and aggregation for exploration...
In this paper, we give a comprehensive and detailed introduction of the multi-target search problem in swarm robotics. Based on some assumptions, we built the idealized models of the basic search problem and three kinds of environmental restrictions. In our previous works, we have raised two searching strategies (GES and IGES) inspired from firework explosion and three restriction-handling strategies,...
In this paper, we propose a path-planning algorithm for mobile robots having sensors with a limited field of view. The proposed method predicts the observable region in the planning phase and minimizes incursions into unobservable regions. The path-planning process of the proposed method not only involves the actions required for reaching a destination but also the actions required for obtaining information...
We present the design and implementation of a multi-input and multi-controller system architecture for mobile robots. The proposed system architecture is divided into interchangeable modular subsystems with common interfaces. The paper details the development of a prototype to test the proposed architecture and the implementation of the architecture with the Robot Operating System. Results from indoor...
Obstacle avoidance is a key problem required in the mobile robot navigation technology. In this paper, we build up a 3D environment in an intelligent surveillance robot through registration of point clouds and present a method to deal with the obstacle avoidance problem. Firstly, the framework of the intelligent robot is given. Then we register the point clouds from an RGB-D Kinect by applying an...
Previous research [1] has shown that, in a nonstereo viewing condition, a circular trajectory collision event (i.e. a collision between a moving object and an observer) is specified by expansion of an object and a constant rate-of-bearing (angular direction or position in the flow field) change. In the present study, we examined the optical information for detecting an imminent collision event in...
Concentric tube robot (CTR) comprises several precurved concentric tubes which can rotate and translate independently with respect to each other. Each pre-curved tube of a CTR can be controlled to rotate axially and translate along its axis, which enables the tip to bypass obstacles and finally reach the target position. The concentric tube robots enable surgeons to perform delicate procedures by...
A new system named Laboratory Mobile Robot Transportation System (LMRTS) is proposed for the dynamic & complex mobile robotic transportation in life science laboratories. In this paper, three collaborative strategies of the LMRTS system are presented, including the multiple mobile robot controlling, the robot-door automated integration and the robot-human interaction. To control the multiple mobile...
This paper presents the effort taken into making our leg-wheeled robot move across flat terrains of different inclination. Previously we have presented the idea of developing the robot using the possible least number of Degrees of Freedom (DOF) by applying the Reduced DOF design. As the complexity of designing and controlling the robot primarily depends on the DOF, we believe that by reducing the...
Foraging is the process of collecting food from the environment. Several food sources may be available in the environment with different properties like food nutrition, distance from the nest, predator risk, etc. A forager must collect food from source at any point in time. Forager may not always select a food source with the highest food quality as the associated risk due to predators may be high...
Navigation through an intersection is a fundamental task that will enable an autonomous car to operate in a real traffic environment. Previous studies about intersection navigation generally assume vehicle to vehicle communication ability for all of the vehicles. Since this is unattainable in the near future, we focus on the scenario that vehicles on the road cannot communicate with each other. A...
The paper presents a novel reactive algorithm for safe navigation of mobile robots in uncertain complex dynamic environments. The proposed law is computationally non-demanding, directly converts the current observation into the current control, and does not require measurements of the velocities, shapes, or orientations of the obstacles. It is applicable to scenes with time-varying and deforming obstacles...
Collision-free navigation is an important problem in autonomous robots. In most of the applications, camera vision techniques using stereo-vision and laser scanners have been used. These techniques are not commercially viable for miniature robots due to size and computational limitations. Optical flow based models using monocular vision have shown promise in biomimetic systems to estimate depth information...
To provide robots for a wide range of users, there needs to be an easy and intuitive way to program them. This issue is addressed by the robot programming by demonstration paradigm, where the user demonstrates the task to the robot. While there exist a lot approaches that use multiple demonstrations for the learning procedure, single-shot robot programming by demonstration is still a niche. Also,...
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