The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
A novel approach to path planning for the formation of a swarm of autonomous robots in an unknown environment is presented in this paper. This approach is designed based on the traditional potential fields combined with the rotational vector field. Under the action of this blended vector field, autonomous robots can easily avoid obstacles in order to reach the target position. Furthermore, in this...
Robotic technology is gradually entering our everyday environments and it is expected that in future social robots will be used to provide various services to users of public spaces. However, robots nowadays still lack the abilities to sense and understand their surroundings, and even more importantly, they lack the knowledge on the persons' usual behavior in public spaces. This talk will discuss...
Advanced remote teleoperation of robot manipulators enable complex tasks to be performed in hostile or inaccessible environments, without the physical presence of a human. For increased effectiveness of teleoperation, maintaining accuracy and speed of task while minimizing collisions is important. Visual and auditory inputs to the user aid in accurate control. However, to further increase the speed...
Robots should be able to utilize environment objects as tools. A critical challenge to accomplishing this task is the vast search space that arises when considering multiple interacting bodies. To manage this complexity, we introduce an approach which efficiently reasons by back-propagating physical constraints between useful combinations of objects. This approach allows us to exploit restrictions...
We control macroscopic Brownian motion by group robots. To make an object track a required path, feedforward control input is found using our preceding model of continuum mechanical description. We use dynamical balance in continuum mechanics to calculate the feedforward input in each time. We see a phenomenon that the object does not move in a required direction in initial stage of Brownian motion...
Flying in unknown environments can lead to unwanted collisions with the environment. If not being accounted for, these may cause serious damage to the robot and/or its environment. Fast and robust collision detection combined with safe reaction is therefore essential in this context. Deliberate physical interaction may also be required in some applications. The robot can then switch into an interaction...
It is a challenge task for robots to tracking scents and locate odor sources because the odor plume is not continuous but consists of intermittent odor patches dispersed by the wind. In general, the space map cannot be foreknown. A novel olfactory search method employing swarm robots with limited space perception in turbulence environment is presented in this paper. In this method, both “information...
In this paper, we present flocking with cohesive configuration control — motion controllers that allow multiple robots to move through the environment as a coherent group while maintaining connectivity and density invariants. We start with a flocking controller from the literature. First, we produce a boundary force on robots that are on the internal and external boundaries of the configuration. This...
Multiple UAVs collaborative operation which has high-level of autonomy will be an important mode of the future war. Fuzzy Virtual Force is proposed to solve the problems of collision avoidance and simultaneous arrival in collaborative UAVs path planning. Collision is avoided based on extended threats from which the repulsions are utilized to optimize the space of UAVs and to ensure their safety. The...
The autonomous obstacle avoidance planning of USV is the guarantee and the precondition of carrying out the performance. Obstacle avoidance planning is required to possess high accuracy and instantaneity due to a complex environment and faster speed. The algorithm of Artificial Potential Field has the advantage of sample mathematical model, which is easy to understand and implement, and facilitate...
Tensegrity robots are novel flexible mobile robots based on the conception of “tensegrity structures” that cited from the architecture. Tensegrity robots possess high strength-mass ratio, deformation capacity and shock resistance ability and can adapt to the environment with self-deformations. Existing simulations for tensegrity robots are carried out with Matlab that required complex dynamics modeling...
Flocking with obstacle avoidance of multi-agents is a significant problem. In this paper, a flocking algorithm in the presence of arbitrary shape obstacles avoidance is provided both in 2D space and 3D space. When obstacles are sensed by α-agents, β-agents which denote obstacles will guide the α-agent driving away from obstacles in a fastest route. We present an approach to determine the position...
Potential-function-based control strategy for path planning and formation control of Quadrotors is proposed in this work. The potential function is used to attract the Quadrotor to the goal location as well as avoiding the obstacle. The algorithm to solve the so called local minima problem by utilizing the wall-following behavior is also explained. The resulted path planning via potential function...
In this paper, a dual-arm mobile robot is designed and experimented to provide walking support to a user. The robot has two operation modes, which can be transformed according to the user's need. When the robot is in the grasping mode, the robot can fetch an object using computer vision and 6-DOF robot arms. When the user wants walking help, the robot can be configured to the supporting mode to provide...
Karst groundwaters provide fresh water resources to supply cities. In the case of deep groundwater resources around the Mediterranean basin there is a need to explore karst aquifers and gather data about their structure. Robots are well adapted for this task especially when exploring karst conduits at depths greater than 200m. However, as karst aquifers environment is very complex, robots need to...
Playing an important role in security patrol, invader hunting and space exploration, formation control is the typical problem of multi-agent cooperation control system. In order to solve the problem of fixed position assignment and long time to reach the target in traditional artificial force model, a formation control method is proposed based on artificial force with exponential form. Agents' positions...
Obstacle avoidance is a critical problem to solve for Unmanned Ground Vehicles (UGVs). The schemes of obstacle avoidance for UGVs are first discussed according to the structured environment road. The braking algorithm is discussed using moving horizon optimization based on differential flatness, where 3 DOF vehicle model is used to follow the planning trajectory for the obstacle avoidance of UGVs...
An obstacle avoidance method using a non-contact impedance algorithm is proposed for a mobile robot in unknown terrain. By establishing non-contact impedance model, distance and approaching velocity between the mobile robot and an obstacle is regulated into a repulsive force. And an impedance model is established to form a virtual spring and damper between the robot and local terrain. The algorithm...
In order to solve the problem which robot swarm isn't easy to form and maintain stable formations, a formation control algorithm based on community division and multilevel topology is proposed by introducing the ideas of hierarchical clustering and pining control. Firstly, based on the hierarchical clustering algorithm, a large group of robots is divided into some communities and a pining robot is...
We present a novel end-to-end solution for distributed multirobot coordination that translates multitouch gestures into low-level control inputs for teams of robots. Highlighting the need for a holistic solution to the problem of scalable human control of multirobot teams, we present a novel control algorithm with provable guarantees on the robots' motion that lends itself well to input from modern...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.