Download or read book Mission and Motion Planning for Multi robot Systems in Constrained Environments written by Kangjin Kim and published by . This book was released on 2019 with total page 159 pages. Available in PDF, EPUB and Kindle. Book excerpt: As robots become mechanically more capable, they are going to be more and more integrated into our daily lives. Over time, human0́9s expectation of what the robot capabilities are is getting higher. Therefore, it can be conjectured that often robots will not act as human commanders intended them to do. That is, the users of the robots may have a different point of view from the one the robots do. The first part of this dissertation covers methods that resolve some instances of this mismatch when the mission requirements are expressed in Linear Temporal Logic (LTL) for handling coverage, sequencing, conditions and avoidance. That is, the following general questions are addressed: * What cause of the given mission is unrealizable? * Is there any other feasible mission that is close to the given one? In order to answer these questions, the LTL Revision Problem is applied and it is formulated as a graph search problem. It is shown that in general the problem is NP-Complete. Hence, it is proved that the heuristic algorihtm has 2-approximation bound in some cases. This problem, then, is extended to two different versions: one is for the weighted transition system and another is for the specification under quantitative preference. Next, a follow up question is addressed: * How can an LTL specified mission be scaled up to multiple robots operating in confined environments? The Cooperative Multi-agent Planning Problem is addressed by borrowing a technique from cooperative pathfinding problems in discrete grid environments. Since centralized planning for multi-robot systems is computationally challenging and easily results in state space explosion, a distributed planning approach is provided through agent coupling and de-coupling. In addition, in order to make such robot missions work in the real world, robots should take actions in the continuous physical world. Hence, in the second part of this thesis, the resulting motion planning problems is addressed for non-holonomic robots. That is, it is devoted to autonomous vehicles0́9 motion planning in challenging environments such as rural, semi-structured roads. This planning problem is solved with an on-the-fly hierarchical approach, using a pre-computed lattice planner. It is also proved that the proposed algorithm guarantees resolution-completeness in such demanding environments. Finally, possible extensions are discussed.

Download or read book Motion Planning in Multi robot Systems Using Timed Automata written by and published by . This book was released on 2004 with total page 6 pages. Available in PDF, EPUB and Kindle. Book excerpt:

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 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 Motion Planning for Humanoid Robots written by Kensuke Harada and published by Springer Science & Business Media. This book was released on 2010-08-12 with total page 320 pages. Available in PDF, EPUB and Kindle. Book excerpt: Research on humanoid robots has been mostly with the aim of developing robots that can replace humans in the performance of certain tasks. Motion planning for these robots can be quite difficult, due to their complex kinematics, dynamics and environment. It is consequently one of the key research topics in humanoid robotics research and the last few years have witnessed considerable progress in the field. Motion Planning for Humanoid Robots surveys the remarkable recent advancement in both the theoretical and the practical aspects of humanoid motion planning. Various motion planning frameworks are presented in Motion Planning for Humanoid Robots, including one for skill coordination and learning, and one for manipulating and grasping tasks. The problem of planning sequences of contacts that support acyclic motion in a highly constrained environment is addressed and a motion planner that enables a humanoid robot to push an object to a desired location on a cluttered table is described. The main areas of interest include: • whole body motion planning, • task planning, • biped gait planning, and • sensor feedback for motion planning. Torque-level control of multi-contact behavior, autonomous manipulation of moving obstacles, and movement control and planning architecture are also covered. Motion Planning for Humanoid Robots will help readers to understand the current research on humanoid motion planning. It is written for industrial engineers, advanced undergraduate and postgraduate students.

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 Motion Planning in Multi robot Systems with Application to a Harvesting System written by Michael Skipper Andersen and published by . This book was released on 2004 with total page 173 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Real time Motion Planning and Safe Navigation in Dynamic Multi robot Environments written by James Robert Bruce and published by . This book was released on 2006 with total page 204 pages. Available in PDF, EPUB and Kindle. Book excerpt: All mobile robots share the need to navigate, creating the problem of motion planning. In multi-robot domains with agents acting in parallel, highly complex and unpredictable dynamics can arise. This leads to the need for navigation calculations to be carried out within tight time constraints, so that they can be applied before the dynamics of the environment make the calculated answer obsolete. At the same time, we want the robots to navigate robustly and operate safely without collisions. While motion planning has been used for high level robot navigation, or limited to semi-static or single-robot domains, it has often been dismissed for the real-time low-level control of agents due to the limited computational time and the unpredictable dynamics. Many robots now rely on local reactive methods for immediate control of the robot, but if the reason for avoiding motion planning is execution speed, the answer is to find planners that can meet this requirement. Recent advances in traditional path planning algorithms may offer hope in resolving this type of scalability, if they can be adapted to deal with the specific problems and constraints mobile robots face. Also, in order to maintain safety, new scalable methods for maintaining collision avoidance among multiple robots are needed in order to free motion planners from the "curse of dimensionality" when considering the safety of multiple robots with realistic physical dynamics constraints. This thesis contributes the pairing of real-time motion planning which builds on existing modern path planners, and a novel cooperative dynamics safety algorithm for high speed navigation of multiple agents in dynamic domains. It also explores near real-time kinematically limited motion planning for more complex environments. The thesis algorithms have been fully implemented and tested with success on multiple real robot platforms.

Download or read book Motion Planning for Multi robot Assembly Systems written by and published by . This book was released on 1999 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 Motion and Operation Planning of Robotic Systems written by Giuseppe Carbone and published by Springer. This book was released on 2015-03-12 with total page 520 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book addresses the broad multi-disciplinary topic of robotics, and presents the basic techniques for motion and operation planning in robotics systems. Gathering contributions from experts in diverse and wide ranging fields, it offers an overview of the most recent and cutting-edge practical applications of these methodologies. It covers both theoretical and practical approaches, and elucidates the transition from theory to implementation. An extensive analysis is provided, including humanoids, manipulators, aerial robots and ground mobile robots. ‘Motion and Operation Planning of Robotic Systems’ addresses the following topics: *The theoretical background of robotics. *Application of motion planning techniques to manipulators, such as serial and parallel manipulators. *Mobile robots planning, including robotic applications related to aerial robots, large scale robots and traditional wheeled robots. *Motion planning for humanoid robots. An invaluable reference text for graduate students and researchers in robotics, this book is also intended for researchers studying robotics control design, user interfaces, modelling, simulation, sensors, humanoid robotics.

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 Modelling and Motion Planning of Constrained Dynamic Systems written by Ka Yan Lee and published by . This book was released on 1997 with total page 304 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Motion Planning in Dynamic Environments written by Kikuo Fujimura and published by Springer. This book was released on 1991 with total page 200 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Motion Planning for Multi robot Assembly Systems written by Martin Bonert and published by . This book was released on 1999 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The classical Travelling Salesperson Problem (TSP) models the movements of a salesperson travelling through a number of cities. The optimization problem is to choose the sequence in which to visit the cities in order to minimize the total distance travelled. This thesis addresses a multi-robot assembly planning problem which in essence is a TSP-type optimization problem. However, in this augmented TSP (TSP+), both the "salesperson" (a robot with a tool) as well as the "cities" (another robot with a workpiece) move. Namely, in addition to the sequencing of tasks, further planning is required to choose where the "salesperson" should rendezvous with each "city". A generalized point-to-point (PTP) motion-planning technique is presented in this thesis for manufacturing systems with multiple, coordinated assembly robots that can be modelled as a TSP problem. As an example area, the optimization of the electronic-component placement process is addressed. This TSP+ problem is investigated for single and two placement robots. (Abstract shortened by UMI.).

Download or read book Multi UAV Planning and Task Allocation written by Yasmina Bestaoui Sebbane and published by CRC Press. This book was released on 2020-03-27 with total page 264 pages. Available in PDF, EPUB and Kindle. Book excerpt: Multi-robot systems are a major research topic in robotics. Designing, testing, and deploying aerial robots in the real world is a possibility due to recent technological advances. This book explores different aspects of cooperation in multiagent systems. It covers the team approach as well as deterministic decision-making. It also presents distributed receding horizon control, as well as conflict resolution, artificial potentials, and symbolic planning. The book also covers association with limited communications, as well as genetic algorithms and game theory reasoning. Multiagent decision-making and algorithms for optimal planning are also covered along with case studies. Key features: Provides a comprehensive introduction to multi-robot systems planning and task allocation Explores multi-robot aerial planning; flight planning; orienteering and coverage; and deployment, patrolling, and foraging Includes real-world case studies Treats different aspects of cooperation in multiagent systems Both scientists and practitioners in the field of robotics will find this text valuable.

Download or read book Connectionist Robot Motion Planning written by Bartlett Mel and published by Elsevier. This book was released on 2013-07-19 with total page 183 pages. Available in PDF, EPUB and Kindle. Book excerpt: Connectionist Robot Motion Planning: A Neurally-Inspired Approach to Visually-Guided Reaching is the third series in a cluster of books on robotics and related areas as part of the Perspectives in Artificial Intelligence Series. This series focuses on an experimental paradigm using the MURPHY system to tackle critical issues surrounding robot motion planning. MURPHY is a robot-camera system developed to explore an approach to the kinematics of sensory-motor learning and control for a multi-link arm. Organized into eight chapters, this book describes the guiding of a multi-link arm to visual targets in a cluttered workspace. It primarily focuses on “ecological solutions that are relevant to the typical visually guided reaching behaviors of humans and animals in natural environments. Algorithms that work well in unmodeled workspaces whose effective layouts can change from moment to moment with movements of the eyes, head, limbs, and body are also presented. This book also examines the strengths of neurally inspired connectionist representations and the utility of heuristic search when good performance, even if suboptimal, is adequate for the task. The co-evolution of MURPHY’s design with the brain, presumably in response to similar computational pressures, is described in the concluding chapters, specifically presenting the division of labor between programmed-feedforward and visual-feedback modes of limb control. Design engineers in the fields of biology, neurophysiology, and cognitive psychology will find this book of great value.