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This work presents a new concept of environment mapping aiming to identify dynamic objects in the scene, and then estimate their direction and future position. The motion analysis is performed directly in the traditional 2D costmap through three different map frames. Costmap is a traditional mapping technique that uses an occupation grid is used, where each cell has a degree of uncertainty about whether...
Distributed mobile robotics (DMR) involves teams of networked robots navigating in a physical space to achieve tasks in a coordinated fashion. A major challenge in DMR is to program the ensemble of robots with formal guarantees and high assurance of correct operation. To this end, we introduce DRONA, a framework for building reliable DMR applications. This paper makes three central contributions:...
Features of a solution for an inverse kinematic problem for manipulators with the PUMA scheme, which have constructive movement restrictions in corresponding mobility degrees, are considered. A method which by means of additional (redundant) mobility degrees of manipulators doesn't allow advance unpredictable exit of any mobility degree to the restrictions leading to sharp decrease in accuracy if...
This paper considers a risk-averse approach to planning the motion of mobile sensor networks in order to maximize the information they collect in uncertain environments. Recent models of risk shape the tails of the probability distributions of the decision variables, controlling in this way the occurrence of rare but important events. In this paper, we formulate the sensor planning problem as a Markov...
Recently we can see significant increase in consumer demand for autonomous mobile robots that are used for a wide range of functional tasks in a not completely determined environment. The actual task that we consider is solution problem of development of an effective situational planning subsystem for the behaviour of autonomous mobile robots. The purpose of writing this article is a brief coverage...
Robotic systems are a typical example of complex systems. Their design involves a combination of different technologies, requiring a multi-disciplinary approach. This is particularly challenging when a robotic system is required to interact either with humans or other entities within its environment. To tackle this complexity, we propose a design and validation approach based on MDE (Model-Driven...
This paper presents a methodology for the parametric identification of the analytic dynamic model of a three degree of freedom delta type parallel robot. Dynamical behavior was modeled using the Euler-Lagrange analytic approach. Analytic dynamic model parameters were estimated using a MSC-ADAMS/MATLAB Cosimulation model. The identification algorithm employed was the recursive least squares, which...
Cooperative robotic manipulation is a promising industrial technology that has been attracting much research attention. However most existing control methods for this goal require either online force sensing or the exact parameters of the robot, which is usually difficult and expensive. In this paper, two mobile manipulators are utilised to verify a simple cooperative manipulation control scheme....
This work presents a new approach to solve the problem of local minimum which happens usually in the case of multiple robots navigation. The multi-robot path planning based on artificial potential field is among of the most popular method for trajectory planning. However, in some spatial-temporal coordinates, the algebraic sum of all the potentials generated by all the torques/forces is null. In such...
Our work presents a proposal for SLAM (Simultaneous Localization and Mapping) problem in dynamic environments. A method for robot self-localization is described. During operations in dynamic environments, only static landmarks are used. For this purpose, an outliers filter was designed. It separates static and mobile landmarks that are included in a set of neglectable marks. A modified particle filter...
Mobile manipulators are robots able to accomplish complicated missions, requiring the conjunction of the mobility and the manipulation. This paper is centred on the study of the movement of a single-armed wheeled vehicle. The mobile robot provides mobility to the robotic arm, and adds more degrees of freedom. Manipulation tasks might be, thus, performed in a large workspace. Human can often be replaced...
This paper presents a framework for generating optimal motor trajectories for a spherical parallel manipulator (SPM) with revolute joints, actuated by servomotors with default internal position control settings. The proposed framework consists of three phases. First, an approach to obtain unique forward kinematics is introduced, in order to relate the angular positions of the servomotors to the orientation...
In this contribution, we describe an unified controller we implemented in order to simplify creating the common interactive behaviors that the robot may performs with human users. This controller is based on a multi-objective optimization technique allowing simultaneous achievement of different constraints and goals. The core of the developed algorithm is based on the particle swarm optimization technique...
Many houseworks such as cleaning the floor or wiping the windows require to manipulate tools over wide areas. It is necessary to move along a path while manipulating a tool with the whole body and applying exactly the right amount of force to successfully accomplish the task. So mastering such a challenge demands detailed knowledge about the involved objects and the underlying process models. Reasoning...
Recently, much research effort has been devoted to employing mobile chargers for energy replenishment of the robots in robotic sensor networks. Observing the discrepancy between the charging latency of robots and charger travel distance, we propose a novel tree-based charging schedule for the charger, which minimizes its travel distance without causing the robot energy depletion. We analytically evaluate...
Industrial robotic manipulators have successfully automated many stationary factory tasks, but there exist many other tasks which could be automated given a mobile platform. One such task is kitting, the process of gathering the constituent elements of a larger unit (the “kit”) from inventory. ABBY is a prototype of a low-price industrial mobile manipulator platform chiefly composed of an ABB IRB-120...
Recently, tele-operated robots are expected to search and rescue victims in a disaster area. However, there is a problem that the operation of rescue robots is too complex. One of this reasons is that an operator has to operate the mobile platform and the manipulator of a rescue robot simultaneously when the operator finds victims. In this study, a control method to coordinate locomotion and manipulation...
This paper presents a method for generating whole body motion including the walking based on the hand trajectory. It is necessary to generate the hand and walking trajectory considering the interaction between manipulation and walking for mobile manipulation. However, to generate the walking trajectory, many elements need to be considered simultaneously. This study aims to generate whole body motion,...
We address the problem of incorporating path planning with image-based control of a wheeled mobile manipulator (WMM) performing visually-guided tasks in complex environments. TheWMMconsists of a wheeled (non-holonomic) mobile platform and an on-board robotic arm equipped with a camera mounted at its end-effector. The visually-guided task is to move the WMM from an initial to a desired location while...
This paper proposes a local information based control law in order to solve the planar manipulation problem of rotating a grasped rigid object to a desired orientation using multiple mobile manipulators. We adopt a multi-agent systems theory approach and assume that: (i) the manipulators (agents) are capable of sensing the relative position to their neighbors at discrete time instances, (ii) neighboring...
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