Download or read book Autonomous Mobile Robots and Multi Robot Systems written by Eugene Kagan and published by John Wiley & Sons. This book was released on 2019-12-16 with total page 340 pages. Available in PDF, EPUB and Kindle. Book excerpt: Offers a theoretical and practical guide to the communication and navigation of autonomous mobile robots and multi-robot systems This book covers the methods and algorithms for the navigation, motion planning, and control of mobile robots acting individually and in groups. It addresses methods of positioning in global and local coordinates systems, off-line and on-line path-planning, sensing and sensors fusion, algorithms of obstacle avoidance, swarming techniques and cooperative behavior. The book includes ready-to-use algorithms, numerical examples and simulations, which can be directly implemented in both simple and advanced mobile robots, and is accompanied by a website hosting codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming consists of four main parts. The first looks at the models and algorithms of navigation and motion planning in global coordinates systems with complete information about the robot’s location and velocity. The second part considers the motion of the robots in the potential field, which is defined by the environmental states of the robot's expectations and knowledge. The robot's motion in the unknown environments and the corresponding tasks of environment mapping using sensed information is covered in the third part. The fourth part deals with the multi-robot systems and swarm dynamics in two and three dimensions. Provides a self-contained, theoretical guide to understanding mobile robot control and navigation Features implementable algorithms, numerical examples, and simulations Includes coverage of models of motion in global and local coordinates systems with and without direct communication between the robots Supplemented by a companion website offering codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming is an excellent tool for researchers, lecturers, senior undergraduate and graduate students, and engineers dealing with mobile robots and related issues.

Download or read book Multi Robot Motion Planning with Communication written by Harmandeep Kaur Buttar and published by . This book was released on 2012 with total page 38 pages. Available in PDF, EPUB and Kindle. Book excerpt: A successful motion planning algorithm was designed and implemented on multiple high performance KheperaIII robots. 2 KheperaIII robots finds a dynamic path from the specified source to the targeted destination avoiding collisions in an unpredictable environment processing real-time data exchanged within robots by distributed communication on a well-spaced grid where boundaries are used as landmarks ascertained by the infrared sensors. Distributed communication was implemented by implementing server and client on every robot in the system with the help of multi-threads. This algorithm hence, is successful implementation in the field of motion planning and coordination with autonomous robots. Also in this thesis, is explained the centralized and decoupled behavior of the motion planning algorithms on the multi robots. The implementation of the algorithm over KheperaIII robots aimed at representing the successfulness of this technique in practical cases, as the work in this field is still relatively new.

Download or read book Mobile Robots written by Janusz Bȩdkowski and published by IntechOpen. This book was released on 2011-12-02 with total page 404 pages. Available in PDF, EPUB and Kindle. Book excerpt: The objective of this book is to cover advances of mobile robotics and related technologies applied for multi robot systems' design and development. Design of control system is a complex issue, requiring the application of information technologies to link the robots into a single network. Human robot interface becomes a demanding task, especially when we try to use sophisticated methods for brain signal processing. Generated electrophysiological signals can be used to command different devices, such as cars, wheelchair or even video games. A number of developments in navigation and path planning, including parallel programming, can be observed. Cooperative path planning, formation control of multi robotic agents, communication and distance measurement between agents are shown. Training of the mobile robot operators is very difficult task also because of several factors related to different task execution. The presented improvement is related to environment model generation based on autonomous mobile robot observations.

Download or read book Multi robot Optimal Motion Planning written by Guoxiang Zhao and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The recent rapid development of computing, communication and sensing technologies triggers the prevalence of multi-robot systems. Compared to single-robot systems, multi-robot systems are advantageous in three aspects: 1) they can accomplish tasks which are beyond the capabilities of single robots; 2) they are cheaper and more flexible for certain tasks; 3) control scheme of multi-robot systems may reveal insights into key issues in social and life sciences. Multi-robot systems have numerous applications in various areas, such as traffic coordination and precision agriculture. Robotic motion planning is a fundamental problem where a sequence of controls are identified to steer robots to goal regions subject to geometric and dynamic constraints. However, the problem is computationally hard even for a single robot. The generalized mover's problem is shown to be PSPACE-hard in degrees of freedom. The optimal motion planning, where the aggregate cost along the returned trajectory is minimized, is more computationally challenging. It is shown that computing the shortest path in R^3 populated with obstacles is NP-hard in the number of obstacles. Multi-robot motion planning is even harder than its single-robot counterpart and its worst-case computational complexity grows exponentially in the number of robots. In this dissertation, we aim to study multi-robot optimal motion planning and design a set of planners towards scalability and optimality. Our research is three-fold. We first investigate the scenario where a team of robots desire to arrive at their own goal regions as soon as possible. The robots are governed by complex dynamics and need to maintain safe distance from static obstacles and other robots. The optimality of the solution is characterized by Pareto optimality, where the reduction of one robot's travelling time must cause the rise of others'. A novel numerical algorithm is proposed to identify the Pareto optimal solutions where no robot can unilaterally reduce its traveling time without extending others'. The consistent approximation of the algorithm in the epigraphical profile sense is guaranteed using set-valued numerical analysis. Experiments on an indoor multi-robot platform and computer simulations show the anytime property of the proposed algorithm; i.e., it is able to quickly return a feasible control policy that safely steers the robots to their goal regions and it keeps improving policy optimality if more time is given. Then we propose a distributed algorithm to achieve much better scalability. Specifically, the algorithm integrates decoupled optimal feedback planning and distributed conflict resolution to coordinate a fleet of unicycle robots. Each robot independently generates its optimal motions offline and avoids collisions with other objects in online execution. The computational complexity is independent of the robot number. Moreover, each robot's individual planner is optimal and its motion is rarely interfered in exercise, so the algorithm is near-optimal. Collision avoidance and finite-time arrival at the goal regions are formally guaranteed. A set of simulations are conducted to verify the scalability and near-optimality of the proposed algorithm. Lastly, we propose a distributed optimal motion planning algorithm for heterogeneous multi-robot systems and strongly coupled missions to balance scalability and optimality, where multiple robots of different dynamics desire to safely reach their respective goal regions with minimal cost. Each robot shares its policy with others in parallel and takes best response with respect to others' policies in a sequential fashion. The proposed algorithm is shown to converge to the optimal value function, and the computational complexity is linear with respect to robot number but is much smaller than benchmark. A set of simulations are conducted to verify the scalability and near-optimality of the proposed algorithm.

Download or read book Mobile Robots written by Janusz Bȩdkowski and published by BoD – Books on Demand. This book was released on 2011-12-02 with total page 406 pages. Available in PDF, EPUB and Kindle. Book excerpt: The objective of this book is to cover advances of mobile robotics and related technologies applied for multi robot systems' design and development. Design of control system is a complex issue, requiring the application of information technologies to link the robots into a single network. Human robot interface becomes a demanding task, especially when we try to use sophisticated methods for brain signal processing. Generated electrophysiological signals can be used to command different devices, such as cars, wheelchair or even video games. A number of developments in navigation and path planning, including parallel programming, can be observed. Cooperative path planning, formation control of multi robotic agents, communication and distance measurement between agents are shown. Training of the mobile robot operators is very difficult task also because of several factors related to different task execution. The presented improvement is related to environment model generation based on autonomous mobile robot observations.

Download or read book Motion Planning for Multiple Mobile Robots Using Time Scaling written by István Komlósi and published by . This book was released on 2011 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Motion Planning for Dynamic Agents written by Zain Anwar Ali and published by BoD – Books on Demand. This book was released on 2024-01-17 with total page 152 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book, Motion Planning for Dynamic Agents, presents a thorough overview of current advancements and provides insights into the fascinating and vital field of aeronautics. It focuses on modern research and development, with an emphasis on dynamic agents. The chapters address a wide range of complex capabilities, including formation control, guidance and navigation, control techniques, wide-space coverage for inspection and exploration, and the best pathfinding in unknown territory. This book is a valuable resource for scholars, practitioners, and amateurs alike due to the variety of perspectives that are included, which help readers gain a sophisticated understanding of the difficulties and developments in the area of study.

Download or read book Multi Robot Systems written by Toshiyuki Yasuda and published by BoD – Books on Demand. This book was released on 2011-01-30 with total page 600 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is a collection of 29 excellent works and comprised of three sections: task oriented approach, bio inspired approach, and modeling/design. In the first section, applications on formation, localization/mapping, and planning are introduced. The second section is on behavior-based approach by means of artificial intelligence techniques. The last section includes research articles on development of architectures and control systems.

Download or read book Multirobot Systems written by Rajiv Mehrotra and published by . This book was released on 1990 with total page 148 pages. Available in PDF, EPUB and Kindle. Book excerpt: A collection of reprints on coordination of multiple robots with a common workspace, and control strategies in coordinated multiple-robot systems. No index. Acidic paper. Annotation copyright Book News, Inc. Portland, Or.

Download or read book Autonomous Mobile Robots and Multi Robot Systems written by Eugene Kagan and published by John Wiley & Sons. This book was released on 2019-09-02 with total page 344 pages. Available in PDF, EPUB and Kindle. Book excerpt: Offers a theoretical and practical guide to the communication and navigation of autonomous mobile robots and multi-robot systems This book covers the methods and algorithms for the navigation, motion planning, and control of mobile robots acting individually and in groups. It addresses methods of positioning in global and local coordinates systems, off-line and on-line path-planning, sensing and sensors fusion, algorithms of obstacle avoidance, swarming techniques and cooperative behavior. The book includes ready-to-use algorithms, numerical examples and simulations, which can be directly implemented in both simple and advanced mobile robots, and is accompanied by a website hosting codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming consists of four main parts. The first looks at the models and algorithms of navigation and motion planning in global coordinates systems with complete information about the robot’s location and velocity. The second part considers the motion of the robots in the potential field, which is defined by the environmental states of the robot's expectations and knowledge. The robot's motion in the unknown environments and the corresponding tasks of environment mapping using sensed information is covered in the third part. The fourth part deals with the multi-robot systems and swarm dynamics in two and three dimensions. Provides a self-contained, theoretical guide to understanding mobile robot control and navigation Features implementable algorithms, numerical examples, and simulations Includes coverage of models of motion in global and local coordinates systems with and without direct communication between the robots Supplemented by a companion website offering codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming is an excellent tool for researchers, lecturers, senior undergraduate and graduate students, and engineers dealing with mobile robots and related issues.

Download or read book Verification and Evaluation of Computer and Communication Systems written by Belgacem Ben Hedia and published by Springer Nature. This book was released on 2020-12-19 with total page 289 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the proceedings of the 14th International Conference on Verification and Evaluation of Computer and Communication Systems, VECoS 2020, which was supposed to be held in Xi’an, China, in October 2020, but was held virtually instead. The 19 full papers and 1 short paper presented in this volume were carefully reviewed and selected from 60 submissions. The aim of the VECoS conference is to bring together researchers and practitioners in the areas of verification, control, performance, and dependability evaluation in order to discuss state of the art and challenges in modern computer and communication systems in which functional and extra-functional properties are strongly interrelated. Thus, the main motivation for VECoS is to encourage the cross-fertilization between various formal verification and evaluation approaches, methods and techniques, and especially those developed for concurrent and distributed hardware/software systems. The papers are organized in the following topical sections: petri-net, simulation, and scheduling; formal modeling and verification, testing; and artificial intelligence and machine learning.

Download or read book Robot Motion Planning and Control written by Jean-Paul Laumond and published by Springer. This book was released on 1998 with total page 366 pages. Available in PDF, EPUB and Kindle. Book excerpt: Content Description #Includes bibliographical references.

Download or read book Algorithmic Foundations of Robotics X written by Emilio Frazzoli and published by Springer. This book was released on 2013-02-14 with total page 625 pages. Available in PDF, EPUB and Kindle. Book excerpt: Algorithms are a fundamental component of robotic systems. Robot algorithms process inputs from sensors that provide noisy and partial data, build geometric and physical models of the world, plan high-and low-level actions at different time horizons, and execute these actions on actuators with limited precision. The design and analysis of robot algorithms raise a unique combination of questions from many elds, including control theory, computational geometry and topology, geometrical and physical modeling, reasoning under uncertainty, probabilistic algorithms, game theory, and theoretical computer science. The Workshop on Algorithmic Foundations of Robotics (WAFR) is a single-track meeting of leading researchers in the eld of robot algorithms. Since its inception in 1994, WAFR has been held every other year, and has provided one of the premiere venues for the publication of some of the eld's most important and lasting contributions. This books contains the proceedings of the tenth WAFR, held on June 13{15 2012 at the Massachusetts Institute of Technology. The 37 papers included in this book cover a broad range of topics, from fundamental theoretical issues in robot motion planning, control, and perception, to novel applications.

Download or read book Principles of Robot Motion written by Howie Choset and published by MIT Press. This book was released on 2005-05-20 with total page 642 pages. Available in PDF, EPUB and Kindle. Book excerpt: A text that makes the mathematical underpinnings of robot motion accessible and relates low-level details of implementation to high-level algorithmic concepts. Robot motion planning has become a major focus of robotics. Research findings can be applied not only to robotics but to planning routes on circuit boards, directing digital actors in computer graphics, robot-assisted surgery and medicine, and in novel areas such as drug design and protein folding. This text reflects the great advances that have taken place in the last ten years, including sensor-based planning, probabalistic planning, localization and mapping, and motion planning for dynamic and nonholonomic systems. Its presentation makes the mathematical underpinnings of robot motion accessible to students of computer science and engineering, rleating low-level implementation details to high-level algorithmic concepts.

Download or read book Obstacle Avoidance in Multi robot Systems written by Mark A. C. Gill and published by World Scientific. This book was released on 1998 with total page 202 pages. Available in PDF, EPUB and Kindle. Book excerpt: Obstacle Avoidance in Multi-robot Systems: Experiments in Parallel Genetic Algorithms offers a novel framework for solving the path planning problem for robot manipulators. Simple and efficient solutions are proposed for the path planning problem based on genetic algorithms. One of the attractive features of genetic algorithms is their ability to solve formidable problems in a robust and straightforward manner. Moreover, genetic algorithms are inherently parallel in nature, which makes them ideal candidates for parallel computing implementations.By combining the robustness of genetic algorithms with the power of parallel computers, this book provides an effective and practical approach to solving path planning problems. The book gives details of implementations that allow a better understanding of the complexities involved in the development of parallel path planning algorithms. The material presented is interdisciplinary in nature ? it combines topics from robotics, genetic algorithms, and parallel processing. The book can be used by practitioners and researchers in computer science and engineering.

Download or read book The Complexity of Robot Motion Planning written by John Canny and published by MIT Press. This book was released on 1988 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Complexity of Robot Motion Planning makes original contributions both to roboticsand to the analysis of algorithms. In this groundbreaking monograph John Canny resolveslong-standing problems concerning the complexity of motion planning and, for the central problem offinding a collision free path for a jointed robot in the presence of obstacles, obtains exponentialspeedups over existing algorithms by applying high-powered new mathematical techniques.Canny's newalgorithm for this "generalized movers' problem," the most-studied and basic robot motion planningproblem, has a single exponential running time, and is polynomial for any given robot. The algorithmhas an optimal running time exponent and is based on the notion of roadmaps - one-dimensionalsubsets of the robot's configuration space. In deriving the single exponential bound, Cannyintroduces and reveals the power of two tools that have not been previously used in geometricalgorithms: the generalized (multivariable) resultant for a system of polynomials and Whitney'snotion of stratified sets. He has also developed a novel representation of object orientation basedon unnormalized quaternions which reduces the complexity of the algorithms and enhances theirpractical applicability.After dealing with the movers' problem, the book next attacks and derivesseveral lower bounds on extensions of the problem: finding the shortest path among polyhedralobstacles, planning with velocity limits, and compliant motion planning with uncertainty. Itintroduces a clever technique, "path encoding," that allows a proof of NP-hardness for the first twoproblems and then shows that the general form of compliant motion planning, a problem that is thefocus of a great deal of recent work in robotics, is non-deterministic exponential time hard. Cannyproves this result using a highly original construction.John Canny received his doctorate from MITAnd is an assistant professor in the Computer Science Division at the University of California,Berkeley. The Complexity of Robot Motion Planning is the winner of the 1987 ACM DoctoralDissertation Award.

Download or read book Intelligent Robotics and Applications written by Honghai Liu and published by Springer Nature. This book was released on 2022-08-03 with total page 801 pages. Available in PDF, EPUB and Kindle. Book excerpt: The 4-volume set LNAI 13455 - 13458 constitutes the proceedings of the 15th International Conference on Intelligent Robotics and Applications, ICIRA 2022, which took place in Harbin China, during August 2022. The 284 papers included in these proceedings were carefully reviewed and selected from 442 submissions. They were organized in topical sections as follows: Robotics, Mechatronics, Applications, Robotic Machining, Medical Engineering, Soft and Hybrid Robots, Human-robot Collaboration, Machine Intelligence, and Human Robot Interaction.