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Robot Coverage Path planning (i.e., the process of providing full coverage of a given domain by one or multiple robots) is a classical problem in the field of robotics and motion planning. The goal of such planning is to provide nearly full coverage while also minimize duplicately visited area. In this paper, we focus on the scenario of path planning on general surface, including planar domains with...
This work addresses the problem of kinematic trajectory planning for mobile manipulators with non-holonomic constraints, and holonomic operational-space tracking constraints. We obtain whole-body trajectories and time-varying kinematic feedback controllers by solving a Constrained Sequential Linear Quadratic Optimal Control problem. The employed algorithm features high efficiency through a continuous-time...
We address the problem of humanoid falling with a decoupled strategy consisting of a pre-impact and a postimpact stage. In the pre-impact stage, geometrical reasoning allows the robot to choose appropriate impact points in the surrounding environment and to adopt a posture to reach them while avoiding impact-singularities and preparing for the postimpact. The surrounding environment can be unstructured...
This paper aims to investigate the formation control of multiple no-holonomic mobile robots based on consensus approach while guarantee inter-collision avoidance among robots. The proposed approach design a controller benefit of the product of Lyapunov and graph theory permit a group of agents to converge to a desired virtual geometric shape defined as an n-ellipsoid with its center track the desired...
A positioning controller based on Spiking Neural Networks for sensor fusion suitable to run on a neuromorphic computer is presented in this work. The proposed framework uses the paradigm of reservoir computing to control the collaborative robot BAXTER. The system was designed to work in parallel with Liquid State Machines that performs trajectories in 2D closed shapes. In order to keep a felt pen...
In recent years, underwater robots that propel and maneuver themselves like real fish, often called robotic fish, have emerged as promising mobile sensing platforms for freshwater and marine environments. For these active monitoring applications, efficient exploration along with economical locomotion is highly important, in order to optimize sensing coverage and guarantee long field operation time...
This paper considers a risk-averse approach to planning the motion of mobile sensor networks in order to maximize the information they collect in uncertain environments. Recent models of risk shape the tails of the probability distributions of the decision variables, controlling in this way the occurrence of rare but important events. In this paper, we formulate the sensor planning problem as a Markov...
Recently we can see significant increase in consumer demand for autonomous mobile robots that are used for a wide range of functional tasks in a not completely determined environment. The actual task that we consider is solution problem of development of an effective situational planning subsystem for the behaviour of autonomous mobile robots. The purpose of writing this article is a brief coverage...
This paper describes an optimal motion control for mobile robots with differential drive. We propose a novel method called Particle Filter Model Predictive Equilibrium Point Control (PF-MPEPC) that implements robot navigation with obstacle avoidance in a structured environment. This control evaluates the near future behaviour continuously to generate an optimal trajectory that is safe and smooth.
We consider the problem of path planning in an initially unknown environment where a robot does not have an a priori map of its environment but has access to prior information accumulated by itself from navigation in similar but not identical environments. To address the navigation problem, we propose a novel, machine learning-based algorithm called Semi-Markov Decision Process with Unawareness and...
As society increases its reliance on remotely-operated and partially autonomous robots, we face the problem of how to effectively interact with large numbers of robots given a limited number of operators. In this paper, we present a methodology to allocate operator attention across multiple robots before plan execution while minimizing the duration of the plan. Our methodology has the following steps:...
Hexapod legged robot's missions, particularly in irregular and dangerous areas, require high stability and high precision. In this paper, we consider the rectangular architecture body of legged robots with six legs distributed symmetrically along two sides, each leg contains three degrees of freedom for greater mobility. The aim of this work is planning tripod gait trajectory, based on the computing...
This paper describes the implementation, demonstration and evaluation of a variety of autonomous, vision-guided manipulation capabilities, using a dual-arm Baxter robot. Initially, symmetric coordinated bi-manual manipulation based on kinematic tracking algorithm was implemented on the robot to enable a master-slave manipulation system. We demonstrate the efficacy of this approach with a human-robot...
Robot Swarm is widely used in many applications such as forest fire detection, Search and rescue missions. Swarm of Robots is supposed to move together without collision and avoid obstacles while performing its target task. Therefore, the formation control of robot swarm is required to achieve the swarm robot target. In this paper, we present an adaptive formation control algorithm for robot swarm...
This manuscript presents a universal control law for a class of complex dynamic systems, such as mobile robots. The trajectory tracking problem is among the major problems in the field of robotics. The proposed universal control law solves the trajectory tracking problem of mobile robots. Despite a large body of research on developing robot's control laws conducted in the literature, the dynamic effects...
Currently, data similarities problem as well as path averaging are being widely discussed. The authors present novel algorithms or their modifications. The main criteria of finding similarities is the accuracy of data assignment or computation time. Yet, in some cases the efficiency of finding an average path using selected method is more important. This paper presents description of main methods...
This paper presents an intelligent method to detect statistic obstacles and generate an optimum and safe path for an autonomous mobile robot. An USB Camera is used to capture the robot environmental top-view image. Then image processing programs are used to extract the mobile robot initial position, the goal position and the static obstacles positions. The optimum path from the start position to the...
A new tracking controller for a wheeled mobile robot based on backstepping approach is presented. The proposed controller was developed based on the kinematic model of the nonholonomic wheeled mobile robot. The controller is verified through a well-established method Lyapunov function.
Although pneumatic actuators have a good power-weight ratio, there is a reduced number of works that consider them to be applied in manipulator robots, mainly because they present difficulties to be controlled, and nonlinearities that make them complicated to obtain a mathematical model which describes their behavior in specific conditions. Control techniques can be implemented in this kind of actuators,...
Mathematical kinematic model of a wheeled robot, operating according to the algorithm to achieve the specified coordinates was developed. Model was designed in visual programming platform LabView. The problem of control of autonomous mobile wheeled robot moving in two dimensions without obstacles was considered. Applicability of this model to the real problems of motor control and drive wheel robots...
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