Download or read book Robot Path Planning and Cooperation written by Anis Koubaa and published by Springer. This book was released on 2018-04-05 with total page 205 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents extensive research on two main problems in robotics: the path planning problem and the multi-robot task allocation problem. It is the first book to provide a comprehensive solution for using these techniques in large-scale environments containing randomly scattered obstacles. The research conducted resulted in tangible results both in theory and in practice. For path planning, new algorithms for large-scale problems are devised and implemented and integrated into the Robot Operating System (ROS). The book also discusses the parallelism advantage of cloud computing techniques to solve the path planning problem, and, for multi-robot task allocation, it addresses the task assignment problem and the multiple traveling salesman problem for mobile robots applications. In addition, four new algorithms have been devised to investigate the cooperation issues with extensive simulations and comparative performance evaluation. The algorithms are implemented and simulated in MATLAB and Webots.

Download or read book Robot Path planning in Connection with Sensing Cooperation and Control written by and published by . This book was released on 1993 with total page 114 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Path Planning of Cooperative Mobile Robots Using Discrete Event Models written by Cristian Mahulea and published by John Wiley & Sons. This book was released on 2020-01-09 with total page 240 pages. Available in PDF, EPUB and Kindle. Book excerpt: Offers an integrated presentation for path planning and motion control of cooperative mobile robots using discrete-event system principles Generating feasible paths or routes between a given starting position and a goal or target position—while avoiding obstacles—is a common issue for all mobile robots. This book formulates the problem of path planning of cooperative mobile robots by using the paradigm of discrete-event systems. It presents everything readers need to know about discrete event system models—mainly Finite State Automata (FSA) and Petri Nets (PN)—and methods for centralized path planning and control of teams of identical mobile robots. Path Planning of Cooperative Mobile Robots Using Discrete Event Models begins with a brief definition of the Path Planning and Motion Control problems and their state of the art. It then presents different types of discrete models such as FSA and PNs. The RMTool MATLAB toolbox is described thereafter, for readers who will need it to provide numerical experiments in the last section. The book also discusses cell decomposition approaches and shows how the divided environment can be translated into an FSA by assigning to each cell a discrete state, while the adjacent relation together with the robot's dynamics implies the discrete transitions. Highlighting the benefits of Boolean Logic, Linear Temporal Logic, cell decomposition, Finite State Automata modeling, and Petri Nets, this book also: Synthesizes automatic strategies based on Discrete Event Systems (DES) for path planning and motion control and offers software implementations for the involved algorithms Provides a tutorial for motion planning introductory courses or related simulation-based projects using a MATLAB package called RMTool (Robot Motion Toolbox) Includes simulations for problems solved by methodologies presented in the book Path Planning of Cooperative Mobile Robots Using Discrete Event Models is an ideal book for undergraduate and graduate students and college and university professors in the areas of robotics, artificial intelligence, systems modeling, and autonomous control.

Download or read book Special Issue on Robot Path planning in Connection with Sensing Cooperation and Control written by and published by . This book was released on 1993 with total page 114 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Cooperative Path Planning for Multi Robot Systems in Dynamic Domains written by Stephan Opfer 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 Robot Motion Planning written by Jean-Claude Latombe and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 668 pages. Available in PDF, EPUB and Kindle. Book excerpt: One of the ultimate goals in Robotics is to create autonomous robots. Such robots will accept high-level descriptions of tasks and will execute them without further human intervention. The input descriptions will specify what the user wants done rather than how to do it. The robots will be any kind of versatile mechanical device equipped with actuators and sensors under the control of a computing system. Making progress toward autonomous robots is of major practical inter est in a wide variety of application domains including manufacturing, construction, waste management, space exploration, undersea work, as sistance for the disabled, and medical surgery. It is also of great technical interest, especially for Computer Science, because it raises challenging and rich computational issues from which new concepts of broad useful ness are likely to emerge. Developing the technologies necessary for autonomous robots is a formidable undertaking with deep interweaved ramifications in auto mated reasoning, perception and control. It raises many important prob lems. One of them - motion planning - is the central theme of this book. It can be loosely stated as follows: How can a robot decide what motions to perform in order to achieve goal arrangements of physical objects? This capability is eminently necessary since, by definition, a robot accomplishes tasks by moving in the real world. The minimum one would expect from an autonomous robot is the ability to plan its x Preface own motions.

Download or read book Special Issue on Roboth Path planning in Connection with Sensing Cooperation and Control written by H. Noborio and published by . This book was released on 1993 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Mobile Robots Navigation written by Luis Payá and published by MDPI. This book was released on 2020-11-13 with total page 298 pages. Available in PDF, EPUB and Kindle. Book excerpt: The presence of mobile robots in diverse scenarios is considerably increasing to perform a variety of tasks. Among them, many developments have occurred in the fields of ground, underwater, and flying robotics. Independent of the environment where they move, navigation is a fundamental ability of mobile robots so that they can autonomously complete high-level tasks. This problem can be efficiently addressed through the following actions: First, it is necessary to perceive the environment in which the robot has to move, and extract some relevant information (mapping problem). Second, the robot must be able to estimate its position and orientation within this environment (localization problem). With this information, a trajectory toward the target points must be planned (path planning), and the vehicle must be reactively guided along this trajectory considering either possible changes or interactions with the environment or with the user (control). Given this information, this book introduces current frameworks in these fields (mapping, localization, path planning, and control) and, in general, approaches to any problem related to the navigation of mobile robots, such as odometry, exploration, obstacle avoidance, and simulation.

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 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 AUTONOMOUS MISSION PLANNING AND COLLABORATION BETWEEN MULTI DOMAIN ROBOTS written by Joel Lindsay and published by . This book was released on 2020 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous multi-robot path-planning and task-allocation to address unresponsive or even evasive targets on or under the water is studied. Challenges in robot localization and navigation in GPS-denied and communication constrained environments are addressed. The mRobot node developed autonomously path-plans and task-allocates to manage robotic collaboration in marine environments. The node is validated in simulation and controlled in-water tests with a team of heterogeneous marine robots (unmanned surface vehicle (USV), unmanned aerial vehicle (UAV), unmanned underwater vehicle (UUV)) to survey static floating targets (of known pose) in three-dimensions. Then, a novel mutual-information incentivised Q-Learning algorithm is developed for UUVs to search for static underwater targets of uncertain pose. The planning considers the complex underwater environments where erroneous and false detections are expected. Simulation and controlled two-dimensional experiments show the algorithm performs notably better than alternative methods like greedy or Boustrophedon. Lastly, a collaborative team of three UUVs is proposed to acoustically detect, track, and localize a mobile, evasive underwater target with uncertain pose. A novel algorithm combines predictive information measures with Q-Learning for trajectory planning. The algorithm adapts to conditions that impact detection with acoustic range-only measurements. Simulation results show superior performance of the 3- UUV system compared to the long baseline method.

Download or read book Collective Path Planning by Robots on a Grid written by Sharon A. Joseph and published by . This book was released on 2010 with total page 107 pages. Available in PDF, EPUB and Kindle. Book excerpt: Planning plays a key role in any level of computation and problem solving. Given the problem statement and having decided on the goal, critical analysis and strong heuristics greatly impact the outcome of the action taken. While problem solving by default demands high precision and concentration, the level of uncertainty involved in the environment where the problem is solved is of significant importance. In this thesis we address the problem of traversing all the cells of a grid by a collection of cooperating robots. Several factors such as static/dynamic obstacles, nature of the terrain and natural factors elevate the uncertainty of the actual outcome. With the increasing amount of research into both static and dynamic environments, the challenges to be faced in the domain of collaborative robotics are still too many to enumerate. Several areas of artificial intelligence are still addressing these issues and this thesis addresses one problem for cooperating robots. The primary goal of this thesis is to generate intelligent paths for a collection of robots in an environment with dynamically changing obstacles. Many existing approaches have addressed the problem in the context of a global camera or GPS system providing positional information to each robot. Our approach seeks to solve this problem in the context of robots getting their location information from a visible grid covering the terrain. The terrain is divided into a well-spaced grid and robots are challenged to visit every cell in the grid in the shortest period of time while overcoming starvation, avoiding deadlocks and detecting dynamic obstacles. All of their spatial knowledge is derived from the cell boundaries on the grid that they cross. This formulation with marked grid boundaries calculates paths, taking both global and local states of all the robots into consideration. Factors such as repeatedly visiting a cell, overlapping paths generated by two robots, and travel-time cost estimations are considered significant in calculating the most effective and intelligent path. The individual path generated by each robot is in response to the obstacles that were encountered during the executions of the path traversals. The algorithm thus developed has been successfully tested with real robots in a laboratory setting. Robots with individual start points visited all the cells in the two dimensional grid. The overall execution time of the algorithm differed with the velocity, the nature of the terrain, and the relative start points. Interesting observations were made such as task sharing, resource utilization, and visiting the nearby cells rather than waiting for other robots to travel far in visiting those cells. The execution time was comparatively less when robots initiated with start points subjected to lower chances of starving, mutual exclusion, respecting better performing robots while avoiding accidents, and building global information from local information. The overall performance of the algorithm is analyzed and discussed in this thesis.

Download or read book STUDY ON COOPERATIVE COLLISION FREE LOCAL PATH PLANNING FOR WHEELED MOBILE ROBOTS written by and published by . This book was released on 2021 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract : Path planning forms the fundamental requirement to facilitate autonomous navigation in Autonomous Vehicles (AVs). Ensuring a cost-efficient, safe, and collision-free path has been the primary objective of most research concerned with path planning. Path planning is accomplished at two levels: global and local. While global path planning can provide reasonable obstacle avoidance in static environments, local path planning or reactive control is better suited to dynamic and fast-changing environments. Integration of the two techniques is also employed to account for either's shortcomings and, hence, enhance the collision avoidance capability and optimal trajectory generation. However, in complex scenarios like constricted spaces or close encounters between agents, even the integrated approaches fail, resulting in a collision or a deadlock. Hence, it necessitates employing cooperative collision avoidance techniques to address these issues and ensure successful, collision-free navigation for AVs. This research's primary objective is to explore a potential solution to enable a cooperative collision avoidance mechanism for autonomous navigation of wheeled mobile robots in a constricted multi-robot environment. This work presents an overview of the current path planners and discusses their limitations. This work studies and explores the capabilities of employing the classic Elastic Band Methods(EBM) path planning technique and Model Predictive Control(MPC) trajectory optimization technique in conjunction to explore the possible cooperative collision avoidance capabilities. Integrating the two and extending the approach to 3D environments forms the basis for our future work.

Download or read book Computational Intelligence in Pattern Recognition written by Asit Kumar Das and published by Springer. This book was released on 2019-08-17 with total page 1046 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents practical development experiences in different areas of data analysis and pattern recognition, focusing on soft computing technologies, clustering and classification algorithms, rough set and fuzzy set theory, evolutionary computations, neural science and neural network systems, image processing, combinatorial pattern matching, social network analysis, audio and video data analysis, data mining in dynamic environments, bioinformatics, hybrid computing, big data analytics and deep learning. It also provides innovative solutions to the challenges in these areas and discusses recent developments.

Download or read book Robot Path Planning Optimized written by Dinesh and published by . This book was released on 2023-05-09 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot Path Planning Optimized" is a comprehensive guide to the field of robot path planning, written by Dinesh, a highly experienced roboticist and researcher. The book offers an in-depth exploration of the principles, methods, and techniques used in robot path planning, with a particular focus on optimization The book begins by introducing the basics of robot path planning and the challenges that arise in designing optimal paths for robots. From there, Dinesh delves into the various optimization algorithms and techniques that are commonly used in robot path planning, including gradient-based optimization, particle swarm optimization, and genetic algorithms One of the key strengths of "Robot Path Planning Optimized" is its practical approach to the subject matter. Throughout the book, Dinesh provides numerous real-world examples and case studies, demonstrating how the concepts and techniques covered in the book can be applied in a range of different robotic applications Whether you are a student or professional working in the field of robotics, "Robot Path Planning Optimized" is an invaluable resource. With its clear explanations, practical examples, and comprehensive coverage of the subject matter, this book is sure to be an essential reference for anyone seeking to design optimal paths for robots

Download or read book Proceedings of the 2nd International Conference on Internet of Things Communication and Intelligent Technology written by Jian Dong and published by Springer Nature. This book was released on with total page 655 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Robot Colonies written by Ronald C. Arkin and published by Springer Science & Business Media. This book was released on 2013-03-14 with total page 150 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robots in groups or colonies can exhibit an enormous variety and richness of behaviors which cannot be observed with singly autonomous systems. Of course, this is analogous to the amazing variety of group animal behaviors which can be observed in nature. In recent years more and more investigators have started to study these behaviors. The studies range from classifications and taxonomies of behaviors, to development of architectures which cause such group activities as flocking or swarming, and from emphasis on the role of intelligent agents in such groups to studies of learning and obstacle avoidance. There used to be a time when many robotics researchers would question those who were interested in working with teams of robots: `Why are you worried about robotic teams when it's hard enough to just get one to work?'. This issue responds to that question. Robot Colonies provides a new approach to task problem-solving that is similar in many ways to distributed computing. Multiagent robotic teams offer the possibility of spatially distributed parallel and concurrent perception and action. A paradigm shift results when using multiple robots, providing a different perspective on how to carry out complex tasks. New issues such as interagent communications, spatial task distribution, heterogeneous or homogeneous societies, and interference management are now central to achieving coordinated and productive activity within a colony. Fortunately mobile robot hardware has evolved sufficiently in terms of both cost and robustness to enable these issues to be studied on actual robots and not merely in simulation. Robot Colonies presents a sampling of the research in this field. While capturing a reasonable representation of the most important work within this area, its objective is not to be a comprehensive survey, but rather to stimulate new research by exposing readers to the principles of robot group behaviors, architectures and theories. Robot Colonies is an edited volume of peer-reviewed original research comprising eight invited contributions by leading researchers. This research work has also been published as a special issue of Autonomous Robots (Volume 4, Number 1).