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This paper proposes a novel paradigm for conflict resolution in multi-vehicle traffic systems where a number of mobile agents move freely in a finite area, each agent following a motion profile designated to it. The key idea underlying the proposed method is the tesselation of the underlying motion area in a number of cells of a certain shape and size, and the treatment of these cells as resources...
Recently, a coordinated hybrid agent (CHA) framework was proposed for the control of multi-agent systems (MASs). In the past few years, it has been applied to both homogeneous and heterogeneous multi-agent systems. In previous studies, the coordination among agents were implemented based on the designerpsilas knowledge of the system. For large complex systems, it would be desirable if we can plan...
The design of automated multiagent cooperative systems can be greatly facilitated by the use of conditional utilities, which provide each individual the capability of modulating its interests as a function of the interests of others. Perhaps the weakest possible requirement for meaningful coordination is that the group be coherent: no individual is required, under all circumstances, to sacrifice its...
This paper presents two modeling approaches for a cooperative control problem for a homogeneous team of robots acting on a cellular two-dimensional space which includes targets and obstacles. First a combinatorial assignment and scheduling approach is used to generate collision free trajectories for the robots. The second approach formulates the optimization problem of finding collision free and optimal...
This paper presents strategies for systematic ways to deploy multiple mobile robots for servicing large numbers of points of interest in a distributed fashion. The mobile robots in such systems are responsible for providing several essential services. For example, in manufacturing automation, the tasks could include parts inspection, parts changing and data collection, etc. The efficiency, responsiveness,...
The problem of designing control schemes for teams of robots to satisfy complex high-level tasks is a challenging problem which becomes more difficult when adding constraints on relative locations of robots. This paper presents a method for automatically creating hybrid controllers that ensure a team of heterogeneous robots satisfy some user specified high-level task while guaranteeing collision avoidance...
Recently, robotic automation in clinical laboratory becomes of keen interest as a fusion of bio and robotic technology. In this paper, we present a new robotic platform for clinical tests suitable for small or medium sized laboratories using mobile robots. The mobile robot called Mobile Agent is designed as transfer system of blood samples, reagents, microplates, and other instruments. Also, the mobile...
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