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We describe and evaluate a novel optimization-based off-line path planning algorithm for mobile robots based on the Counterexample-Guided Inductive Optimization (CEGIO) technique. CEGIO iteratively employs counterexamples generated from Boolean Satisfiability (SAT) and Satisfiability Modulo Theories (SMT) solvers, in order to guide the optimization process and to ensure global optimization. This paper...
In order to navigate a robotic base in an unfamiliar environment, some mechanisms to detect positioning and location must be provided. When the base is in the process of navigation and makes use of these mechanisms, errors originating from the environment and base are inserted into the system, resulting in an erroneous position estimation. One relevant approach to reduce the error amplitude is to...
This work aims to propose and compare trajectory tracking controllers for mobile robots. At first the mathematical requirements to propose a feasible strategy for a unicyclelike robot are presented, as well as the necessary condition to guarantee the stability in the sense of Lyapunov. In the sequence, the controllers are tuned in simulation and then validated in real experiments. The performance...
This paper presents an approach to the formation control problem for autonomous non-holonomic mobile robots using a Non-linear Model Predictive Formation Control (NMPFC) algorithm that employs a leader-follower scheme. An explanation of the the NMPFC problem is given, after which the results of both simulations and experiments with a three robot formation employing the developed algorithm are discussed...
This paper proposes a system for caring a physically impaired person by a mobile robot employing cooperative object recognition. It is a well-known fact that object recognition is not an easy task for a robot particularly in a real environment. It is, on the contrary, easy for a human. In the proposed system, a mobile robot goes to a spot where a user wishes to go in place of him/her and transfers...
Recently, Simultaneous Localization And Mapping (SLAM) problem becomes an active research field in mobile robotics. In addition, Rao-Blackwellized Particle Filter (RBPF) has been introduced as an effective means to solve this problem. This paper describes the implementation of a RBPF-SLAM to estimate the mobile robot pose while building the map of its surrounding indoor environment. In this approach,...
This paper presents a formation tracking strategy for a set of single or double integrator agents with an arbitrary undirected communication topology. The approach uses the leader-followers scheme and a distance-based potential function. The approach is extended to the case of nonholonomic omnidirectional aerial and terrestrial robots. To show the performance of the control strategy, a real-time experiment...
In this paper, we introduce a cognitive model inspired in a rough description of the human cognition process to provide a more efficient parallel architecture for autonomous reactions in real systems. The model is a non-hierarchical structure composed of three main parallel blocks-mind, reason, action-in a nested double closed-loop configuration for control and supervision; the mind is a practical...
This paper presents a solution with reduced computational complexity for path planning of a team of robots that should satisfy a mission expressed as a Boolean formula. It is assumed that the robots move in a partitioned environment containing some regions of interest. The robots should reach some final regions such that a Boolean formula expressed using the regions of interest is satisfied. Moreover,...
The purpose of this research is to develop a control strategy for a differential drive autonomous mobile robot. The robotic task is to move in a straight trajectory in the workspace despite powered by two non-identical electric motors. A developed controller was designed to control the rotational speed of the motors independently in order to achieve a straight trajectory of the motion despite the...
In order to cover unknown workspace of mobile robots, an area-coverage path planning which is controlled by a novel memristor-based double-stroll chaotic system has been proposed in this paper. The motion path of the mobile robots is unpredictability, randomly, and evenly. The characteristics of unpredictability of motion path and the fast scanning have lots of usage, such as the surveillance of terrains,...
This paper introduces a new integrated algorithm to achieve the complete coverage path planning (CCPP) task for the mobile robot in a given obstacles-included terrain. The algorithm combines the cellular decomposition approach and the chaotic Standard map together to design the coverage procedure. The cellular decomposition approach decompose the target region into several rectangular feasible sub-regions...
We focus on assisting mobile robot teleoperation in a task-appropriate way, where we model the user intention as an action primitive to perform a contextual task, e.g. doorway crossing and object inspection, and provide motion assistance according to the task recognition. This paper contributes to formulating motion assistance in a data-driven manner. With the motion clusters obtained in our previous...
In this paper, the problem associated with accurate control of a four-wheel steering mobile robot following a path, while keeping different desired absolute orientations and ensuring different desired lateral deviations, is addressed thanks to a backstepping control strategy. In particular, the control of each steering angle is investigated through a new parallel steering approach based on an extended...
This study presents simulation results of nonholonomic mobile robot control with path planning which is based on Bézier Curves. The purpose of this paper is set to develop a simulation model for differential drive wheeled (DDW) robot by using MATLAB/Simulink environment. Fractional order PID structure is used to increase the tracking performance of DDW robot. Simulation results are compared for the...
In this paper is intended to control the entire flexible line using two wheeled mobile robot and two robotic manipulators. The mechatronics manufacturing line has no possibility of automatic feed with pieces and no automatic pickup of the scrap pieces from the storage station. The robotic manipulators are used for charging the buffer of the flexible line as well as emptying the storage station. These...
This paper deals with dynamic collision avoidance of multiple mobile robots by model predictive control (MPC). Each robot has the same control law based on an MPC problem which has constraints on avoidance of other robots. A numerical example shows that a robot can reach to a goal point from a start point while avoiding collision with another robot that follows its start and goal points.
This paper presents an implementation and an experimental validation of a virtual structure and a leader-follower flexible formation tracking controllers for car-like non-holonomic mobile robots with velocity and steering controllers in the loops. The formations are flexible in the sense that their formation configurations are defined based on curvilinear longitudinal and lateral relative separations...
This paper presents a cascaded trajectory tracking controller and a control gains selection procedure for nonholonomic car-like wheeled mobile robots with steering and velocities controllers in the tracking control loops. The trajectory tracking controller enables stable tracking control of trajectories for the car-like mobile robots in the presence of the robot's velocity and steering control latencies...
This article presents the simulation genetic algorithms with multi-agent system application to solve problems of collaboration and coordination, with the goal of minimizing the travel time of a fleet of drones. The experimental analysis compares the travel time of a deterministic algorithm versus a probabilistic algorithm in a multi-agent system with BDI architecture. The results show that the genetic...
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