Download or read book Online Distributed Motion Planning for Mobile Multi robot Systems written by José Mendes Filho and published by . This book was released on 2019 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Two main objectives for this thesis can be identified: - Develop a multi-robot system composed by autonomous mobile robots capable of performing complex tasks in a dynamic, partially known environment; - Ensure the safety of goods and a proper interaction human-robot in their shared work environment. To that purpose a 3 layer solution is proposed containing : - Control law - Motion planner - Task planner Each layer is validated firstly in simulation and secondly in a real experiment using mobile platforms such as TurtleBots. The found results will be analysed with respect to requirements derived from the objectives stated at the beginning.

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 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 Automated Planning and Acting written by Malik Ghallab and published by Cambridge University Press. This book was released on 2016-08-09 with total page 373 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the most recent and advanced techniques for creating autonomous AI systems capable of planning and acting effectively.

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 Distributed Autonomous Robotic Systems written by Fumitoshi Matsuno and published by Springer Nature. This book was released on 2022-01-03 with total page 456 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the state of the art in distributed autonomous systems composed of multiple robots, robotic modules, or robotic agents. Swarms in nature can not only adapt to their environments, but can also construct suitable habitats to their own advantage. Distributed autonomous robotic systems can do many things that its individuals cannot do alone. As the global pandemic was still ongoing, the 15th International Symposium on Distributed Autonomous Robotic Systems (DARS2021) was held on June 1–4, 2021, as an online meeting. The scope of DARS201 was to create a bridge between biologists and engineers interested in the distributed intelligence of living things and to establish a new academic field by integrating knowledge from both disciplines. Topics of DARS2021 were swarm intelligence, swarm robotics, multi-agent system, modular robotics, decentralized control, distributed system, etc. The papers in this book provide a very good overview of the state of the art in distributed autonomous robotic systems (DARS). They reflect current research themes in DARS with important contributions. We hope that this book helps to sustain the interest in DARS and triggers new research.

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 Robot Teams written by Tucker Balch and published by CRC Press. This book was released on 2002-04-17 with total page 425 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is a comprehensive volume on robot teams that will be the standard reference on multi-robot systems. The volume provides not only the essentials of multi-agent robotics theory but also descriptions of exemplary implemented systems demonstrating the key concepts of multi-robot research. Information is presented in a descriptive manner and augme

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 Mobile Robot Motion Control and Path Planning written by Ahmad Taher Azar and published by Springer Nature. This book was released on 2023-06-30 with total page 670 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the recent research advances in linear and nonlinear control techniques. From both a theoretical and practical standpoint, motion planning and related control challenges are key parts of robotics. Indeed, the literature on the planning of geometric paths and the generation of time-based trajectories, while accounting for the compatibility of such paths and trajectories with the kinematic and dynamic constraints of a manipulator or a mobile vehicle, is extensive and rich in historical references. Path planning is vital and critical for many different types of robotics, including autonomous vehicles, multiple robots, and robot arms. In the case of multiple robot route planning, it is critical to produce a safe path that avoids colliding with objects or other robots. When designing a safe path for an aerial or underwater robot, the 3D environment must be considered. As the number of degrees of freedom on a robot arm increases, so does the difficulty of path planning. As a result, safe pathways for high-dimensional systems must be developed in a timely manner. Nonetheless, modern robotic applications, particularly those requiring one or more robots to operate in a dynamic environment (e.g., human–robot collaboration and physical interaction, surveillance, or exploration of unknown spaces with mobile agents, etc.), pose new and exciting challenges to researchers and practitioners. For instance, planning a robot's motion in a dynamic environment necessitates the real-time and online execution of difficult computational operations. The development of efficient solutions for such real-time computations, which could be offered by specially designed computational architectures, optimized algorithms, and other unique contributions, is thus a critical step in the advancement of present and future-oriented robotics.

Download or read book Formation Control written by Hyo-Sung Ahn and published by Springer. This book was released on 2019-03-29 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph introduces recent developments in formation control of distributed-agent systems. Eschewing the traditional concern with the dynamic characteristics of individual agents, the book proposes a treatment that studies the formation control problem in terms of interactions among agents including factors such as sensing topology, communication and actuation topologies, and computations. Keeping pace with recent technological advancements in control, communications, sensing and computation that have begun to bring the applications of distributed-systems theory out of the industrial sphere and into that of day-to-day life, this monograph provides distributed control algorithms for a group of agents that may behave together. Unlike traditional control laws that usually require measurements with respect to a global coordinate frame and communications between a centralized operation center and agents, this book provides control laws that require only relative measurements and communications between agents without interaction with a centralized operator. Since the control algorithms presented in this book do not require any global sensing and any information exchanges with a centralized operation center, they can be realized in a fully distributed way, which significantly reduces the operation and implementation costs of a group of agents. Formation Control will give both students and researchers interested in pursuing this field a good grounding on which to base their work.

Download or read book Internet and Distributed Computing Systems written by Yang Xiang and published by Springer. This book was released on 2018-10-16 with total page 316 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the proceedings of the 11th International Conference on Internet and Distributed Computing Systems, IDCS 2018, held in Tokyo, Japan, in October 2018. The 21 full papers presented together with 5 poster and 2 short papers in this volume were carefully reviewed and selected from 40 submissions. This conference desired to look for inspiration in diverse areas (e.g., infrastructure and system design, software development, big data, control theory, artificial intelligence, IoT, self-adaptation, emerging models, paradigms, applications and technologies related to Internet-based distributed systems) to develop new ways to design and mange such complex and adaptive computation resources.

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 Robotic Systems Concepts Methodologies Tools and Applications written by Management Association, Information Resources and published by IGI Global. This book was released on 2020-01-03 with total page 2075 pages. Available in PDF, EPUB and Kindle. Book excerpt: Through expanded intelligence, the use of robotics has fundamentally transformed a variety of fields, including manufacturing, aerospace, medicine, social services, and agriculture. Continued research on robotic design is critical to solving various dynamic obstacles individuals, enterprises, and humanity at large face on a daily basis. Robotic Systems: Concepts, Methodologies, Tools, and Applications is a vital reference source that delves into the current issues, methodologies, and trends relating to advanced robotic technology in the modern world. Highlighting a range of topics such as mechatronics, cybernetics, and human-computer interaction, this multi-volume book is ideally designed for robotics engineers, mechanical engineers, robotics technicians, operators, software engineers, designers, programmers, industry professionals, researchers, students, academicians, and computer practitioners seeking current research on developing innovative ideas for intelligent and autonomous robotics systems.

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 Distributed Optimization of Multi Robot Motion with Time Energy Criterion written by Mohamad T. Shahab and published by . This book was released on 2019 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This paper is an application of a special case of distributed optimization problem. It is applied on optimizing the motion of multiple robot systems. The problem is decomposed into L subproblems with L being the number of robot systems. This decomposition reduces the problem to solving a single robot problem. The optimization problem is solved via a distributed algorithm, utilizing subgradient method. A global objective function is set as the sum of individual robot objectives in time and energy. Constraints are divided into two sets, namely, robot-individual constraints and robots,Äô interactions (collision) constraints. The approach is applied for the case of wheeled mobile robots: we are able to generate in parallel for each robot an optimized control input trajectory and then illustrate it in simulation examples.

Download or read book Motion Planning in Dynamic Environments written by Kikuo Fujimura and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 190 pages. Available in PDF, EPUB and Kindle. Book excerpt: Computer Science Workbench is a monograph series which will provide you with an in-depth working knowledge of current developments in computer technology. Every volume in this series will deal with a topic of importance in computer science and elaborate on how you yourself can build systems related to the main theme. You will be able to develop a variety of systems, including computer software tools, computer graphics, computer animation, database management systems, and computer-aided design and manufacturing systems. Computer Science Workbench represents an important new contribution in the field of practical computer technology. TOSIYASU L. KUNII To my parents Kenjiro and Nori Fujimura Preface Motion planning is an area in robotics that has received much attention recently. Much of the past research focuses on static environments - various methods have been developed and their characteristics have been well investigated. Although it is essential for autonomous intelligent robots to be able to navigate within dynamic worlds, the problem of motion planning in dynamic domains is relatively little understood compared with static problems.