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Due to their social influence, several areas research search and rescue field. Mobile robotics is one of them that analyzes and seeks more efficient solutions for search and rescue operations. Multirobot systems are considered to make the procedures more efficient and safe, both for the victim and for the crew. Petri nets are widely diffused for designing discrete events systems, such as networks...
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...
In this paper, we define a time-extended multirobot task allocation problem, design and analyze some heuristics to tackle the problem complexity in computational resource constrained settings. The robots (or agents) can perform a limited amount of work per unit of time, while the tasks have durations and deadlines by which they must be completed. These constraints, in addition to a relatively small...
Two different industrial robot electrical energy consumption modeling applications with various modeling approach are discussed. Application programming interface between MATLAB and external C++ or VB.NET application is introduced for energy consumption data at virtual commissioning software. Validation of the developed model is performed. The main identified problem is speed of the application programming...
Multi-robot systems (MRS) have many applications and the efficient operation of MRS relies on coordination of robots. However, it is difficult to build network connections among randomly distributed robots in the presence of robot movements and weak wireless channels. In this work, we propose to jointly exploit communications and motion control to efficiently establish robot connections. To achieve...
To be safe, mobile multi-robots systems need to be able to adapt to unexpected behaviours of robots as well as to exogenous changes in the environment. In this paper, we describe a novel approach for the development of multi-robots systems where robots collectively collaborate with each other to satisfy their goals and to adapt their behaviour in a collective way satisfying the overall system safety...
Simulation is an initial approach to determine the experiment feasibility, especially for a complex robotics environment. This paper give an overview of five simulation software for non-expert developers to quickly perform the multirobots simulation. In the advanced robotics field, further research requires simulations, especially which involve multi-robots as to run quickly. There are many robotics...
This paper is concerned with the formation method for multi-robot systems with obstacles. Consensus formation cannot avoid obstacles in the process of movement, and algorithms based on relative distances are not applicable to the situations requiring rigid topology. An algorithm has been designed combining consensus protocols and the modified artificial potential field method for the second-order...
We present a compositional motion planning framework for multi-robot systems based on an encoding to satisfiability modulo theories (SMT). In our framework, the desired behavior of a group of robots is specified using a set of safe linear temporal logic (LTL) properties. Our method relies on a library of motion primitives, each of which corresponds to a controller that ensures a particular trajectory...
This paper studies the tracking and obstacle avoidance control of a second-order multi-robot system. First, a Leader-Follower dynamic model is formulated and robots are divided into a leader and some followers according to the Lead-Follower method. Second, a sliding mode controller (SMC) is designed in the obstacles-free environment to track a predetermined trajectory. Third, a controller for obstacle...
This paper proposes a simple method to solve consensus problems of multi-robot systems with directed topologies and nonuniform time delays. The frequency domain method is applied to a second-order system in which the robots are expected to achieve rectilinear consensus motions. Sufficient conditions are provided for the system: if all the time delays are bounded by a derived value, the nonuniform...
In this work, we address the connectivity maintenance problem for a team of mobile robots which move according to a given collective control objective. In our framework, the interaction among the robots is limited by a given visibility radius both in terms of sensing and communication. For this scenario, we propose a bounded control law which can provably preserve the connectivity of the multi-robot...
This paper focuses on an ACO (Ant Colony Optimization)-based task allocation problem in multi-robot systems in order to optimize the global efficiency of robots and emphasizes the application to the water polo collection competition which is a typical item in the robotic fish competition. Firstly, we introduce the water polo collection competition including its characteristic and design kinds of efficiency...
This paper considers the problem of decentralized goal assignment and trajectory generation for multi-robot networks when only local communication is available, and proposes an approach based on methods related to switched systems and set invariance. A family of Lyapunov-like functions is employed to encode the (local) decision making among candidate goal assignments, under which the agents pick the...
In this paper, we propose a reasonable fast centralized to navigate a multi-robot system on domes. The robots, consisting of a leader and N−1 (N ≥ 2) followers, are connected to each other by N strings and make a ring around the dome. The leader uses the artificial potential field approach to plan a stable path toward its desired goal position while the other robots support it. To avoid getting into...
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...
Adaptive Kalman filter algorithm (AKF) is utilized to improve the performance of the robot's speed and heading angle, which can eliminate the system state noise and error, generated by the sudden change of formation in the multi-robot leader-follower system. The approach guarantees that the robots can reach the desired position quickly and accurately and keep a predetermined formation. The motion...
Online path planning for multi-robots in complicated and dynamic environments is a difficult and hot issue in the field of robotics. Many traditional path planning methods cannot meet the requirements of online and real-time processing. Neuro-dynamics-based method has an aptitude for online and real-time path planning in complicated and dynamic environments. However, this method still has shortcomings...
We believe the core of handling the complexity of coordinated multiagent search lies in identifying which subsets of robots can be safely decoupled, and hence planned for in a lower dimensional space. Our work, as well as those of others take that perspective. In our prior work, we introduced an approach called subdimensional expansion for constructing low-dimensional but sufficient search spaces...
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