Download or read book Discovering Distributed Locomotion Algorithms for Self Reconfigurable Cellular Robots written by Akhila Reddy Magam and published by . This book was released on 2008 with total page 91 pages. Available in PDF, EPUB and Kindle. Book excerpt: Self-reconfigurable modular robots are distributed robots that reconfigure via autonomous movement decisions made by their modules. Such robots have been widely studied in the literature, but in almost all cases, the rules for their reconfiguration and locomotion are hand-crafted. The work reported in this thesis seeks to automate this process using evolutionary search methods for the discovery of distributed locomotion algorithms. Cellular automata-based rules are evolved to achieve autonomous locomotion in an environment with obstacles. A standard genetic algorithm (GA) approach is tried first, and shown to be inadequate. A staged version of evolutionary algorithms is then developed, and applied to three complex situations. In each case, this approach is able to find reasonable solutions. A simulator for an abstract homogeneous self-reconfigurable robotic system was developed to simulate a two-dimensional robot moving in a two-dimensional environment. This simulator was used to evaluate the performance of locomotion algorithms using several fitness criteria during and after the evolutionary search. Results from the standard GA-based approach are compared with those obtained from the staged approach using three locomotion problems. The discovered robot behavior indicates that the multi-stage approach exhibits better performance than the standard GA approach. Experimental results also show that the algorithms produced by the multi-stage approach are more easily adaptable to different environments when compared to those found using the standard approach.

Download or read book Biologically Inspired Approaches for Locomotion Anomaly Detection and Reconfiguration for Walking Robots written by Bojan Jakimovski and published by Springer Science & Business Media. This book was released on 2011-08-20 with total page 203 pages. Available in PDF, EPUB and Kindle. Book excerpt: The increasing presence of mobile robots in our everyday lives introduces the requirements for their intelligent and autonomous features. Therefore the next generation of mobile robots should be more self-capable, in respect to: increasing of their functionality in unforeseen situations, decreasing of the human involvement in their everyday operations and their maintenance; being robust; fault tolerant and reliable in their operation. Although mobile robotic systems have been a topic of research for decades and aside the technology improvements nowadays, the subject on how to program and making them more autonomous in their operations is still an open field for research. Applying bio-inspired, organic approaches in robotics domain is one of the methodologies that are considered that would help on making the robots more autonomous and self-capable, i.e. having properties such as: self-reconfiguration, self-adaptation, self-optimization, etc. In this book several novel biologically inspired approaches for walking robots (multi-legged and humanoid) domain are introduced and elaborated. They are related to self-organized and self-stabilized robot walking, anomaly detection within robot systems using self-adaptation, and mitigating the faulty robot conditions by self-reconfiguration of a multi-legged walking robot. The approaches presented have been practically evaluated in various test scenarios, the results from the experiments are discussed in details and their practical usefulness is validated.

Download or read book Robotics in Natural Settings written by José M. Cascalho and published by Springer Nature. This book was released on 2022-08-24 with total page 633 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book includes recent research on climbing and walking robots. CLAWAR 2022 is the twenty-fifth International Conference Series on Climbing and Walking Robots and Mobile Machine Support Technologies. The conference is organized by CLAWAR Association in collaboration with the University of the Azores, S. Miguel, Portugal, during September 12-14, 2022. CLAWAR 2022 provides an updated state of the art on robotics and its use in a diversity of applications and/or simulation scenarios, within the framework “Robotics in Natural Settings”. The topics covered include Bio-Inspired Robotics, Biped Locomotion, Educational Robotics, Human-Machine/Human-Robot Interaction, Innovative Actuators, Inspection, Legged Locomotion, Modeling and Simulation of CLAWAR, Outdoor and Field Robotics, Planning and Control, Wearable Devices and Assistive Robotics, and the Use of A.I. in Robotics. The intended readership includes participants of CLAWAR 2022 conference, international robotic researchers, scientists, and professors of related topics worldwide, and professors and students of postgraduate courses in Robotics and Automation, Control Engineering, Mechanical Engineering, and Mechatronics.

Download or read book Algorithms for Modular Self reconfigurable Robots written by Ayan Dutta and published by . This book was released on 2017 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Modular self-reconfigurable robots (MSRs) are composed of multiple modules which can change their connections with each other to take different shapes, commonly known as configurations. Forming different configurations helps the MSR to accomplish diferent types of tasks in different environments. In this dissertation, we study three different problems in MSRs: partitioning of modules, configuration formation planning and locomotion learning, and we propose algorithmic solutions to solve these problems. Partitioning of modules is a decision-making problems for MSRs where each module decides which partition is a NP-complete problem. We propose game theory based both centralized and distributed solutions to solve this problem. Once the modules know which set of modules they should team-up with, they self-aggregate to form a specific shaped configuration, known as the configuration forming planning problem. Modules can be either singletons or connected in smaller configurations from which they need to form the target configuration. The configuration formation problem is difficult as multiple modules may select the same location in the target configuration to move to which might result in occlusion and consequently failure of the configuration formation process. On the other hand, if the modules are already in connected configurations in the beginning, then it would be beneficial to preserve those initial configurations for placing them into the target configuration as disconnections and re-connections are costly operations, We propose solutions based on an auction-like algorithm and (sub) graph-isomorphism to solve the configuration problem. Once the configuration is built, the MSR needs to move towards its goal location as a whole configuration for completing its task. If the configuration's shape and size is not known a priori, then planning its locomotion is a difficult task as it needs to learn the locomotion pattern in dynamic time - the problem is known as adaptive locomotion learning. We have proposed reinforcement learning based on fault-tolerant solutions for locomotion learning by MSRs.

Download or read book Self reconfigurable Robots written by Kasper Stoy and published by . This book was released on 2010 with total page 224 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive survey of the growing field of self-reconfigurable robots that discusses the history of the field, design considerations, and control strategies. Self-reconfigurable robots are constructed of robotic modules that can be connected in many different ways. These modules move in relationship to each other, which allows the robot as a whole to change shape. This shapeshifting makes it possible for the robots to adapt and optimize their shapes for different tasks. Thus, a self-reconfigurable robot can first assume the shape of a rolling track to cover distance quickly, then the shape of a snake to explore a narrow space, and finally the shape of a hexapod to carry an artifact back to the starting point. The field of self-reconfigurable robots has seen significant progress over the last twenty years, and this book collects and synthesizes existing research previously only available in widely scattered individual papers, offering an accessible guide to the latest information on self-reconfigurable robots for researchers and students interested in the field. Self-Reconfigurable Robots focuses on conveying the intuition behind the design and control of self-reconfigurable robots rather than technical details. Suggestions for further reading refer readers to the underlying sources of technical information. The book includes descriptions of existing robots and a brief history of the field; discussion of module design considerations, including module geometry, connector design, and computing and communication infrastructure; an in-depth presentation of strategies for controlling self-reconfiguration and locomotion; and exploration of future research challenges.

Download or read book Distributed Autonomous Robotic Systems 8 written by Hajime Asama and published by Springer Science & Business Media. This book was released on 2009-05-15 with total page 578 pages. Available in PDF, EPUB and Kindle. Book excerpt: The International Symposia on Distributed Autonomous Robotic Systems (DARS) started at Riken, Japan in 1992. Since then, the DARS symposia have been held every two years: in 1994 and 1996 in Japan (Riken, Wako), in 1998 in Germany (Karlsruhe), in 2000 in the USA (Knoxville, TN), in 2002 in Japan (Fukuoka), in 2004 in France (Toulouse), and in 2006 in the USA (Minneapolis, MN). The 9th DARS symposium, which was held during November 17–19 in T- kuba, Japan, hosted 84 participants from 13 countries. The 48 papers presented there were selected through rigorous peer review with a 50% acceptance ratio. Along with three invited talks, they addressed the spreading research fields of DARS, which are classifiable along two streams: theoretical and standard studies of DARS, and interdisciplinary studies using DARS concepts. The former stream includes multi-robot cooperation (task assignment methodology among multiple robots, multi-robot localization, etc.), swarm intelligence, and modular robots. The latter includes distributed sensing, mobiligence, ambient intelligence, and mul- agent systems interaction with human beings. This book not only offers readers the latest research results related to DARS from theoretical studies to application-oriented ones; it also describes the present trends of this field. With the diversity and depth revealed herein, we expect that DARS technologies will flourish soon.

Download or read book Distributed Autonomous Robotic Systems written by Roderich Groß and published by Springer. This book was released on 2018-03-13 with total page 697 pages. Available in PDF, EPUB and Kindle. Book excerpt: Distributed robotics is an interdisciplinary and rapidly growing area, combining research in computer science, communication and control systems, and electrical and mechanical engineering. Distributed robotic systems can autonomously solve complex problems while operating in highly unstructured real-world environments. They are expected to play a major role in addressing future societal needs, for example, by improving environmental impact assessment, food supply, transportation, manufacturing, security, and emergency and rescue services. The goal of the International Symposium on Distributed Autonomous Robotic Systems (DARS) is to provide a forum for scientific advances in the theory and practice of distributed autonomous robotic systems. This volume of proceedings include 47 original contributions presented at the 13th International Symposium on Distributed Autonomous Robotic Systems (DARS 2016), which was held at the Natural History Museum in London, UK, from November 7th to 9th, 2016. The selected papers in this volume are authored by leading researchers from around the world, thereby providing a broad coverage and perspective of the state-of-the-art technologies, algorithms, system architectures, and applications in distributed robotic systems. The book is organized into seven parts, representative of critical long-term and emerging research thrusts in the multi-robot community: Distributed Coverage and Exploration; Multi-Robot Control; Multi-Robot Estimation; Multi-Robot Planning; Modular Robots and Smart Materials; Swarm Robotics; and Multi-Robot Systems in Applications.

Download or read book Locomotion of Self organizing Robots written by Lorena Eleonora Lusso and published by . This book was released on 2013 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: In our work we present a collection of distributed algorithms for the locomotion of rectangular and histogram-shaped square-lattice-based modular robots, on free ground and in the presence of obstacles. Each algorithm presented is accompanied with a correctness proof, a complexity analysis, and a direct implementation in a simulator, that allows the direct observation of the effect of the rules over different systems and obstacles. . The goal of this project is to develop geometric algorithms, both centralized and distributed for modular robotic systems. The algorithms should make the system reconfigure, move on a substrate, and solve other geometric tasks. Some algorithms can be specifically designed to current protoptypes, while others can be generic in the sense that they can be applied to a set of prototypes. The framework is restricted to lattice-based modular robots.

Download or read book Advanced Information Networking and Applications written by Leonard Barolli and published by Springer Nature. This book was released on 2022-03-30 with total page 728 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book covers the theory, design and applications of computer networks, distributed computing and information systems. Networks of today are going through a rapid evolution, and there are many emerging areas of information networking and their applications. Heterogeneous networking supported by recent technological advances in low-power wireless communications along with silicon integration of various functionalities such as sensing, communications, intelligence and actuations is emerging as a critically important disruptive computer class based on a new platform, networking structure and interface that enable novel, low-cost and high-volume applications. Several of such applications have been difficult to realize because of many interconnections problems. To fulfill their large range of applications, different kinds of networks need to collaborate, and wired and next generation wireless systems should be integrated in order to develop high-performance computing solutions to problems arising from the complexities of these networks. The aim of the book “Advanced Information Networking and Applications” is to provide the latest research findings, innovative research results, methods and development techniques from both theoretical and practical perspectives related to the emerging areas of information networking and applications.

Download or read book Distributed Autonomous Robotic Systems written by Nak-Young Chong and published by Springer. This book was released on 2016-01-14 with total page 475 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume of proceedings includes 32 original contributions presented at the 12th International Symposium on Distributed Autonomous Robotic Systems (DARS 2014), held in November 2014. The selected papers in this volume are authored by leading researchers from Asia, Australia, Europe, and the Americas, thereby providing a broad coverage and perspective of the state-of-the-art technologies, algorithms, system architectures, and applications in distributed robotic systems.

Download or read book Distributed Locomotion Strategies for Lattice based Modular Robots written by Daniel Otero Avalle and published by . This book was released on 2016 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Previous work on locomotion strategies for lattice-based modular robots has provided several algorithms that allow modular robots move over sets of specific obstacles. Nevertheless, there was not yet a general algorithm that solved the problem of locomotion for any arbitrary set of obstacles. In this document, we introduce a general distributed algorithm of locomotion for 2D square lattice-based modular robots that solves the problem of locomotion over any given set of obstacles. The algorithm presented here is inspired in a caterpillar motion and uses the right-hand rule combined with local module information to guide the movement of a modular robot. The proof of correctness and complexity analysis are also given in this document alongside a complete functional implementation of the algorithm.

Download or read book Algorithms for Sensor Systems written by Cristina M. Pinotti and published by Springer Nature. This book was released on 2020-10-27 with total page 195 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes revised selected papers from the 16th International Symposium on Algorithms and Experiments for Wireless Sensor Networks, ALGOSENSORS 2020, held in Pisa, Italy*, in September 2020. The 12 full papers presented in this volume were carefully reviewed and selected from 27 submissions. ALGOSENSORS is an international symposium dedicated to the algorithmic aspects of wireless networks. *The conference was held virtually due to the COVID-19 pandemic.

Download or read book Interactive Collaborative Robotics written by Andrey Ronzhin and published by Springer. This book was released on 2017-09-01 with total page 297 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the proceedings of the Second International Conference on Interactive Collaborative Robotics, ICR 2017, held in Hatfield, UK, in September 2017, as a satellite event of the 19th International Conference on Speech and Computer, SPECOM 2017. The 30 papers presented in this volume were carefully reviewed and selected from 51 submissions. This new conference invites researchers in the area of social robotics and collaborative robotics to share experience in human-machine interaction research and development of robotic and cyberphysical systems. Topics addressed are: assistive robots, child-robot interaction, collaborative robotics, educational robotics, human-robot interaction, medical robotics, robotic mobility systems, robots at home, robot control and communication, social robotics, as well as safety robot behavior.

Download or read book 18th International Conference on Architecture of Computing Systems ARCS 2005 written by Paul Lukowicz and published by Margret Schneider. This book was released on 2005 with total page 148 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Self Sufficiency of an Autonomous Reconfigurable Modular Robotic Organism written by Raja Humza Qadir and published by Springer. This book was released on 2014-09-25 with total page 166 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book describes how the principle of self-sufficiency can be applied to a reconfigurable modular robotic organism. It shows the design considerations for a novel REPLICATOR robotic platform, both hardware and software, featuring the behavioral characteristics of social insect colonies. Following a comprehensive overview of some of the bio-inspired techniques already available, and of the state-of-the-art in re-configurable modular robotic systems, the book presents a novel power management system with fault-tolerant energy sharing, as well as its implementation in the REPLICATOR robotic modules. In addition, the book discusses, for the first time, the concept of “artificial energy homeostasis” in the context of a modular robotic organism, and shows its verification on a custom-designed simulation framework in different dynamic power distribution and fault tolerance scenarios. This book offers an ideal reference guide for both hardware engineers and software developers involved in the design and implementation of autonomous robotic systems.

Download or read book Natural Computing for Simulation and Knowledge Discovery written by Nunes de Castro, Leandro and published by IGI Global. This book was released on 2013-07-31 with total page 346 pages. Available in PDF, EPUB and Kindle. Book excerpt: Nature has long provided the inspiration for a variety of scientific discoveries in engineering, biomedicine, and computing, though only recently have these elements of nature been used directly in computational systems. Natural Computing for Simulation and Knowledge Discovery investigates the latest developments in nature-influenced technologies. Within its pages, readers will find an in-depth analysis of such advances as cryptographic solutions based on cell division, the creation and manipulation of biological computers, and particle swarm optimization techniques. Scientists, practitioners, and students in fields such as computing, mathematics, and molecular science will make use of this essential reference to explore current trends in natural computation and advance nature-inspired technologies to the next generation.

Download or read book Design Creativity 2010 written by Toshiharu Taura and published by Springer Science & Business Media. This book was released on 2010-11-04 with total page 323 pages. Available in PDF, EPUB and Kindle. Book excerpt: What is ‘design creativity’? It is impossible to answer this question without considering why human beings can – and do – ‘design’. Design creativity is instrumental in not only addressing social problems faced across the world, but also evoking an innate appreciation for beauty and a sense of personal contentment. Design Creativity 2010 comprises advanced research findings on design creativity and perspectives on future directions of design creativity research. The papers included were presented and discussed at the first ICDC (International Conference on Design Creativity), which was held at Kobe, Japan, in 2010. Design Creativity 2010 encourages readers to enhance and expand their activities in the field of design creativity.