Groups of fixed-wing robots can benefit from moving in synchrony to share sensing and communication capabilities, avoid collisions or produce visually pleasing choreographies. Synchronous motion is especially challeng...
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ISBN:
(纸本)9783642327223
Groups of fixed-wing robots can benefit from moving in synchrony to share sensing and communication capabilities, avoid collisions or produce visually pleasing choreographies. Synchronous motion is especially challenging when using fixed-wing robots that require continuous forward motion to fly. For such platforms, performing trajectories with forward speed lower than the minimum speed of the robot can only be achieved by acting on its heading turn rate. Synchronizing such highly dynamical systems would typically require position information and entail frequent sensing and communication among robots within the group. Instead here we propose a simple controller that reacts to regular beats received through wireless transmissions. Thanks to these beats, robot headings synchronize over time. Furthermore, these controllers can easily be parameterized to steer and regulate the global progression speed of groups of robots. Experiments are performed both in simulation and using up to five fixed-wing flying robots.
This paper details an endocrine based system which automatically reassigns tasks among heterogeneous robots dependent on the ability of the robot to do the task. This ability (or sensitivity) to a task is initialised ...
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ISBN:
(纸本)9783642327223
This paper details an endocrine based system which automatically reassigns tasks among heterogeneous robots dependent on the ability of the robot to do the task. This ability (or sensitivity) to a task is initialised for each individual robot after an evolutionary training stage, then constantly adapts as the robots perform the various tasks. The system does not require a centralised controller, and relies on little communication between the robots.
In this paper an optimal method for distributed collision avoidance among multiple non-holonomic robots is presented in theory and experiments. Non-holonomic optimal reciprocal collision avoidance (NH-ORCA) builds on ...
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ISBN:
(纸本)9783642327223
In this paper an optimal method for distributed collision avoidance among multiple non-holonomic robots is presented in theory and experiments. Non-holonomic optimal reciprocal collision avoidance (NH-ORCA) builds on the concepts introduced in [2], but further guarantees smooth and collision-free motions under non-holonomic constraints. Optimal control inputs and constraints in velocity space are formally derived for the non-holonomic robots. The theoretical results are validated in several collision avoidance experiments with up to fourteen e-puck robots set on collision course. Even in scenarios with very crowded situations, NH-ORCA showed to be collision-free for all times.
In developed countries, an aging society has become a serious issue;many activities of daily living (ADL) are impaired in the elderly. In order to improve this situation, it is necessary to develop an assisting method...
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ISBN:
(纸本)9783642327223
In developed countries, an aging society has become a serious issue;many activities of daily living (ADL) are impaired in the elderly. In order to improve this situation, it is necessary to develop an assisting method for the human standing-up motion because it is considered to be an important factor to ADL. It is unclear, however, how humans coordinate their multiple distributed actuators, muscles, due to the ill-posed problem of redundant their body system. In this paper, we analyze the human standing-up motion based on muscle coordinations, called synergies. A simulation method was developed to make mappings between muscle activations, joint torque, and the human body trajectory;thus, it can be predicted how modular muscle coordinations contribute to the motion. As a result, two primary synergies were extracted and how they coordinate to achieve the motion was elucidated;one synergy strongly affected joint movements and speed of the motion while bending the back and lifting the body up, and the other synergy controls their posture after they lift up their body. These findings could be useful for development of an assisting robotic system for rehabilitative training based on extracted distributed synergies from complex redundant human motion.
This paper presents a distributed multi-robot system to search for odor sources inside unknown environments. The robots cooperatively explore the whole environment and generate its topological map. The exploration met...
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ISBN:
(纸本)9783642327223
This paper presents a distributed multi-robot system to search for odor sources inside unknown environments. The robots cooperatively explore the whole environment and generate its topological map. The exploration method is a decentralized frontier based algorithm that is enhanced by considering odor concentration at each frontier inside its cost/gain function. The robots independently generate local topological maps and by transferring them to each other, they are able to integrate these maps and generate a whole global map. The proposed method was tested and validated in real reduced scale scenarios.
This paper is devoted to a self-assembling of heterogeneous robot modules into specific topological configurations with desired kinematic properties. The approach utilizes a constrained nature of self-assembling and i...
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ISBN:
(纸本)9783642327223
This paper is devoted to a self-assembling of heterogeneous robot modules into specific topological configurations with desired kinematic properties. The approach utilizes a constrained nature of self-assembling and involves constraint satisfaction and constraint optimization techniques for finding optimal connections between modules. Scalability, locality and noise of sensor information as well as environmental dependability are addressed. This approach is implemented in real reconfigurable robots and in simulation.
Graph signature is a fast isomorphism test that is used in self-reconfiguration planning of modular robots. In case of dealing with homomorphic modules, the required time to calculate the signature grows exponentially...
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ISBN:
(纸本)9783642327223
Graph signature is a fast isomorphism test that is used in self-reconfiguration planning of modular robots. In case of dealing with homomorphic modules, the required time to calculate the signature grows exponentially with the number of symmetry lines. We tackle this problem by introducing an isomorphism-invariant signature calculation method, which is based on the power centrality of nodes. We also introduce a new sample-based search method. Simulation results show the new method finds better solutions in a significantly shorter time.
Shallow seas are extremely difficult environments for autonomous underwater profiling floats. These robots possess no thrusters and only one actuator for their buoyancy control, and are thus entirely dependent on sea ...
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ISBN:
(纸本)9783642327223
Shallow seas are extremely difficult environments for autonomous underwater profiling floats. These robots possess no thrusters and only one actuator for their buoyancy control, and are thus entirely dependent on sea currents for lateral motion. As a further restriction, underwater acoustic communication is very limited. Taking into account these challenges, a novel co-operative underwater multi-robot system has been designed and implemented for use in shallow waters. A coordination strategy and a localization method have been developed and tested using a detailed simulation of the Baltic Sea. These methods allow the system to operate safely and to map underwater currents and other environmental variables with relatively high accuracy.
Ants communicate with each other using pheromones, and their society is highly sophisticated. When foraging, they transport cooperatively with interplay of forces. The swarm is robust against changes in internal state...
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ISBN:
(纸本)9783642327223
Ants communicate with each other using pheromones, and their society is highly sophisticated. When foraging, they transport cooperatively with interplay of forces. The swarm is robust against changes in internal state, and shows flexibility in dealing with external problems. In this brief paper, we focus on the robot swarm that achieves cooperative transportation making use of ethanol as a substantial artificial pheromone. We also propose a swarm system with a newly developed algorithm that enables cooperative transportation of real robots. They will transport food to the nest analogous to the behaviour of a swarm of ants. Emphasis will be placed on the systematic task solution process. We present a number of experiments demonstrating the robustness and flexibility of the system and also confirming the effectiveness of the algorithm.
This paper introduces a principle to guide the design of finger form: invariance of contact geometry over some continuum of varying shape and/or pose of the grasped object in the plane. Specific applications of this p...
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ISBN:
(纸本)9783642174513
This paper introduces a principle to guide the design of finger form: invariance of contact geometry over some continuum of varying shape and/or pose of the grasped object in the plane. Specific applications of this principle include scale-invariant and pose-invariant grasps. Under specific conditions, the principle gives rise to spiral shaped fingers, including logarithmic spirals and straight lines as special cases. The paper presents a general technique to solve for finger form, given a continuum of shape or pose variation and a property to be held invariant. We apply the technique to derive scale-invariant and pose-invariant grasps for disks, and we also explore the principle's application to many common devices from jar wrenches to rock-climbing cams.
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