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A recent algorithm proposed for real-time computation of individual agent reference trajectories for formation tracking under realistic dynamic and actuator constraints shows remarkable formation keeping and formation reconfiguration capability. A key assumption for its successful execution however is that the accurate system state should be available at the beginning of each computation segment....
The mechanism of swarm flocking phenomena is investigated in this paper, and a distributed coadaptive control algorithm is presented for swarm robot system. We prove that this controller can enable all swarm members to converge to a common velocity only by means of the local information, then the finish time of flocking can be estimated. An improved particle swarm optimization algorithm (PSO) is adopted...
Mobile surveillance systems include a vast array of mobile sensing nodes with varying sensing modalities that can sense continuously the volume of interest. These distributed nodes are capable of sensing, processing, mobilization and communication with other nodes. One of the fundamental problems of mobile surveillance systems is how to assign a set of tasks to a set of mobile sensors and how to coordinate...
This paper addresses the autonomous decentralized cooperation conveyance algorithm to improve the task efficiency by selecting a leader from other robots autonomously. This algorithm aims at coexistence of two exclusive features. One is the effectiveness that is a typical advantage of centralized control systems. The other is the adaptability and robustness to the environment which are advantages...
ID image segmentation is a part that is the most subject to light in the RoboCup small size league vision subsystems and with the largest quantity of calculation in the system. While most teams use YUV color space for image segmentation, we use HSV color space in our paper. Experiments prove that this color space is less subject to light. Secondly, while region segmentation based on window search...
This manuscript describes an implementation of a system that can adaptively cope with the task of robust colour identification in the domain of robot soccer. The main challenge is to perform this in an environment of changing light conditions and/or cameras used. The camera setup is first characterised using common techniques from colour management with ICC profiles. In a second step current light...
Multi robot motion planning problems can be solved very efficiently when the configuration space is mapped onto a graph. Before planning, however, it must be assured that the constructed graph is reachable (solvable) for the given number and configuration of robots. Solvable trees are types of trees that let any arrangement of a specified number of robots be reached from any initial arrangement through...
We study a simple algorithm inspired by the Brazil nut effect for achieving segregation in a swarm of mobile robots. The algorithm lets each robot mimic a particle of a certain size and broadcast this information locally. The motion of each particle is controlled by three reactive behaviors: random walk, taxis, and repulsion by other particles. The segregation task requires the swarm to self-organize...
Despite the large body of work in both motion planning and multi-agent simulation, little work has focused on the problem of planning motion for groups of robots using external ??controller?? agents. We call this problem the group control problem. This problem is complex because it is highly underactuated, dynamic, and requires multi-agent cooperation. In this paper, we present a variety of new motion...
Many realistic problem domains are composed of heterogeneous tasks distributed in a physical environment. A team of mobile agents has to autonomously allocate these tasks, navigate to them and finally execute them. Recently auctions have been used for task allocation among homogeneous agents. Less studied is the case of allocation where both the tasks and the agents are heterogeneous in nature. In...
In this paper, we propose a Q-learning with continuous action policy and extend this algorithm to a multi-agent system. We examine this algorithm in a task that there are two robots taking action independently but connected with a straight bar. The robots must cooperate to move to the goal and avoid the obstacles in the environment. Conventional Q-learning needs a pre-defined and discrete state space...
We research and develop it aiming at the realization of a scooping goldfish robot copied from the method that a human being takes. This paper describes estimation method of the 3D position of a goldfish in a water tank. What is important and basic in distinguishing a timing to scoop a goldfish is to estimate the 3D position.
The goal of this paper is to serve as a reference for researchers in robotics and control that are interested in realistic modeling, theoretical analysis and simulation of wireless links. To realize the full potentials of networked robotic systems, an integration of communication issues with motion planning/control is necessary. While considerable progress has been made in the area of networked robotic...
The reliability of individual team members has a substantial and complex influence on the success of multirobot missions. When one robot fails, other robots must be retasked to complete the tasks that were assigned to the failed robot. This in turn increases the likelihood of these other robots failing, since they have more work to do. Existing multirobot task allocation systems consider robot failures...
We deal with self-adaptive systems where each local entity has autonomy in the way of strong coactivity with others entities to make the emergence of a coherent general state of the complete system. The paper focus on the architecture of a self adaptive system based on massive multi agent systems. The system allows the monitoring and on-line restructuring thanks to ontology. It is dedicated to a complex...
In previous work we presented a multi-robot strategy for routing missions in large scenarios where network connectivity must be explicitly preserved. This strategy is founded on the traversal of path trees in such a way that connectivity to a static control center is always maintained, while ensuring that any target that is reachable by a chain consisting of all robots is eventually visited. In this...
One of the most amazing phenomena widely observed in nature is self-assembly; living systems spontaneously form their body structure through the developmental process. While this remarkable phenomenon are not thoroughly understood in biology, the concept of self-assembly becomes undeniably indispensable also in artificial systems as they increase in size and complexity. Based on this consideration,...
A multi-robot cooperation station for nano-bio characterization of biological specimens is presented. The station is composed of two long travel range and high resolution robots equipped with self-sensing nanoprobes that are able to cooperate with each other and with standard AFM systems, over a common sample. The robots are guided by the use of an upright high-depth-of-field optical microscope to...
This paper presents the modeling of a new mini-invasive neurosurgical resection robot. This robot aims to help to remove brain tumors and is incorporated into a multi-robot neurosurgical system. We focus especially on the resection task. The robot is composed of three serial bending modules actuated by wires (cables) and uses an additional translation. The redundancy of the robot (seven degrees of...
Division of Labor Control is advanced function for distributed autonomous robotic systems. Many studies focussing division of labor control inspired biological phenomenon have been reported. However, the optimality is not discussed because decentralized control is typically complicated. In this study, we propose the division of labor control method for robot group that enable adaptively select whether...
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