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In the movement of multiple robots, the robot formation is one of the important attributes of colony activities. It has an important significance to recognize robot formations for evaluating the spot situation and making decisions. A new algorithm is proposed in this paper for recognition of robot linear formations. On the basis of pre-processing, (that is, each robot is segmented from the spot and...
With two auxiliary lines drawn on the racket pad, the intersections of the auxiliary lines and the pad edge are selected as feature points. A simple pose measurement method is designed based on the feature points. A high efficient image-processing algorithm and a feature points extracting method are proposed according to the characteristics of the pad and the auxiliary lines. The racket pose in the...
One of the most important issues in top-down cooperative control of multi-agent systems is to decompose the global specification in order to design the local supervisors such that the fulfilment of these sub-specifications by each individual agent, results in the satisfaction of the global specification as a team. Given the global desired behavior, represented as an automaton, and the distribution...
A reliable and efficient multi-robot coordination strategy is proposed to accomplish area exploration task in unknown environment. This approach is an improved one based on social potential field (SPF) model and market-based (MD) approach to coordinate the movement of multiple robots. Unlike traditional SPF, our model is a non-continuous one in time. In this approach, non-continuous SPF and market-driven...
Suddenly fall of unexpected disasters cause serious damage and casualties to our society. In order to minimize damage, search and rescue tasks should be carried out immediately after the disasters. This paper introduces an entropy based search model to RoboCup rescue agent simulation system which enables our search agents to find victims as early as possible. Key point of this proposed model lies...
In this paper we present a layered architecture for multirobot motion coordination. The purpose is to control and coordinate autonomous mobile robot with generic shapes and kinematics in a priori known environment. It is a centralized framework, where a leader robot (or a supervisor) plans the motion of all the robots and makes them moving synchronously. The architecture is layered, self-similar and...
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...
In a companion paper we have presented a practical formation motion control scheme for robotic swarms based on single view depth estimation. In this paper we adapt this control scheme to the cases where there are obstacles to be avoided in the region of interest. First, a set of distributed control laws for the agents, to be incorporated with depth (distance) estimation scheme, are introduced to move...
In this paper we consider a policy-based routing scheme for a wireless communication network consisting of a set of robots as nodes. Our scheme provides a communication infrastructure that enables the multi-robot system to accomplish its assigned tasks. Our scheme is adaptive and can be implemented in a distributed manner by the nodes of the network. The scheme makes estimates of link and path costs...
The case of an adaptive controller is developed for a robot system actuated by brushed direct current motors in the presence of external disturbances and parametric uncertainties. The control scheme requires the measurements of link position and armature current for feedback. The elaborated adaptive controller results in a closed-loop system locally stable while the all states and signals are bounded...
The paper, in the basis of studying the humanoid intelligent control basic model, proposed the multi-agent level hierarchical structure model, in detail introduced the control system characteristic vector extraction, the system dynamic characteristic pattern and the classified method, the characteristic pattern and the control strategy mapping relations. Then, the thesis discussed the multi-agent...
This paper presents a practical formation motion control scheme for robotic swarms based on single view depth estimation. The single view depth estimation for each robot in the swarm is performed using a single non-sophisticated camera on the agent, and the prior information about the heights of the robots and other objects in the estimation. Here, a non-sophisticated camera means one that has limited...
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