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This paper presented biological immune system, immune response, and immune learning through somatic hypermutation. The proposed approach is based on immune network theory since they share common aspects with a multi-robot system. In order to improve the cooperative behavior in multi-robot systems, a conceptual model is presented by integrating the immune network algorithm with somatic hypermutation...
The RT-WMP is a token-passing protocol based protocol that applied to the mobile ad-hoc network. It has many advantages. For instance, it supports real-time traffic, multi-hop capabilities. Especially, the messages could be scheduled in the multi-robots communications so that the one with higher priority will be transmitted earlier. This paper analyzes the state-of-the-art of ad-hoc network protocols...
The problem of multi-robot task allocation (MRTA) recently has received significant attention within the robotic research community. Despite the algorithms of the MRTA problems are growing in popularity and quality, they are scattered in different literature. In addition, the evaluation criteria among the algorithms are inconsistent. To address this issue, we overview the principal MRTA algorithms...
A soccer game can be seen as a confrontation between two teams of agents where each player, communicating with his teammates, try to interpret in the best way as possible the game situations, achieving its main goals. Today the most important factors in a soccer clubs life and in its coach success are the game results they achieve. They represent the success of the club and in many cases the coachs...
We describe the general foraging task, breaking it into two different subtasks: map-making and collection. Map-making is a task in which a map is constructed which contains the location(s) of an item or of items in the search area. Collection is the task in which an item is picked up and carried back to a central known location. We theoretically examine these tasks, generating minimal conditions for...
Plume-tracing mobile robots have the potential to detect emissions caused by dangerous sources, such as early stage fire, toxic gas and explosives, without endangering human life during the detection and source localization process. So far, most researchers have focused on odour source localization using a single mobile robot; however, using a single robot to locate an odour source has limitations...
Robot soccer teams consist of a number of robots each performing a different role within the team. The roles discussed in this paper are: goalie, defender, attacker, supporter and centre. These roles are too often statically assigned to the robots at the start of the game. Knowledge-based techniques can be used to assign these roles dynamically to allow the team to adopt the optimal behaviour for...
This paper investigated the formation control of multi-mobile robots under the environment without obstacles, the feedback linearization is used for the robot, a nonlinear sliding mode controller is proposed in accordance with multi-robot system to coordinate a group of nonholonomic mobile robots so that a desired formation can be achieved. A prescribed trajectory is followed by using sliding mode...
Reinforcement learning has been commonly used in multi-robot decision making to cope with uncertainties in the environment. A shortcoming of this approach is the need for the robots to change their actions quite frequently, which is not feasible in a physical multi-robot system. This paper focuses on the development of a modified Q-learning algorithm with minimal switching of actions. By introducing...
The paper develops a home security system that is equipped with RS-232, security module, appliance control module, Ethernet and mobile communication. The supervised computer can control the security module, appliance control module and small robots using RF interface. The controllers of these modules are HOLTECK chip. The user can supervised the security system using cell phone or PDA through GSM...
In order to describe the movement of multi-robot queue, the model of formation is defined in view of relative poses of multiple mobile robots. The idea of switching control is introduced based on leader-following schema. The front point and rear point of the axis of leading robot is determined as reference points by the following robot. The sub-controller is designed corresponding to the reference...
This paper describes a distributed multi-robot simulation system, named RobSim. RobSim is naturally organized into a set of plug-in modules, such as motion module, sensors module, communication module and map module, etc. It can be extended and combined easily by plunging-in new modules. RobSim is capable of simulating various types of sensors and which can be used for testing robot navigation, planning,...
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