检索结果-内蒙古大学图书馆

Heterogeneous multi-robot system mission planning with cooperative replenishment through data-driven rendezvous point selection

引用

INTELLIGENT SERVICE robotICS 2025年第1期18卷 61-73页

作者： Do, Haggi Jang, Junwoo Kim, Jinwhan Korea Adv Inst Sci & Technol KAIST Dept Mech Engn Daejeon South Korea Univ Michigan Dept Naval Architecture & Marine Engn 2600 Draper Dr Ann Arbor MI 48109 USA

With advances in autonomy technology, the use of multi-robot systems is becoming increasingly viable and efficient. In particular, heterogeneous systems are effective in complicated missions that require various capabilities. When the missions are prolonged, certain robots such as quadcopter-typed unmanned aerial vehicles (UAVs) run out of energy and require replenishment. As some robots such as unmanned surface vessels (USVs) have large payload capacities for carrying supplies, the UAVs can receive the necessary resources from the USVs amid the missions. In this paper, we propose a mission planning framework that aims to minimize the total mission duration with consideration of the energy replenishment of robots and the heterogeneity of robots and tasks. The proposed framework consists of four components: task allocation, rendezvous point selection, task planning, and plan combination. For replenishment, the location of the rendezvous must be chosen, and we propose using a data-driven approach to predict the best rendezvous point. Then, the prediction result is used for computing candidate plans of each robot in a distributed fashion, and the best candidates are combined to compute the final plan. To validate the efficacy of the proposed method, simulated experiments of various problem configurations are performed and analyzed.

关键词： multi-robot system Mission planning Task planning Heterogeneous system Energy constraint

来源：评论

学校读者我要写书评

暂无评论

Heterogeneous Event Mapping of multi-robot system Based on Event Structures

引用

JOURNAL OF FIELD robotICS 2025年第0期

作者： Zhang, Xuewei Han, Deshuai Yang, Qiliang Chen, Wenjie Wang, Ronghao Army Engn Univ PLA Nanjing Peoples R China PLA Rocket Force Univ Engn Xian Peoples R China

Heterogeneous event mapping is a critical challenge in multi-robot system, where diverse robots generate event logs with opaque names and inconsistent formats due to subsystem heterogeneity. However, existing techniques are inappropriate because they do not make full use of workflow features in event logs. We observe that several types of event constraints in event logs may serve as more discriminative features in event matching. Therefore, a novel approach is proposed to address the above problem by leveraging event structures as discriminative feature for heterogeneous event mapping. Specifically, the event structure captures behavioral constraints in event logs to provide a robust foundation for event mapping. To enhance matching efficiency, we devise an advanced A* search algorithm with a tight upper bound, which effectively prunes nonoptimal mappings and avoid the space explosion problem. Furthermore, a prototype system is implemented that automatically calculates the optimal mapping score between heterogeneous events. Based on this, extensive experiments on both real and synthetic data sets demonstrate that our approach outperforms state-of-the-art approaches in accuracy, efficiency, and scalability. This work provides a robust solution for seamless coordination and data sharing in MRS, with potential applications in autonomous navigation, collaborative robotics, and human-robot interaction.

关键词： A* search algorithm event mapping event structure heterogeneous data multi-robot system

来源：评论

学校读者我要写书评

暂无评论

Digital twin-enabled multi-robot system for collaborative assembly of unorganized parts

引用

JOURNAL OF INDUSTRIAL INFORMATION INTEGRATION 2025年 44卷

作者： Oo, Kyaw Htet Koomsap, Pisut Ayutthaya, Duangthida Hussadintorn Na Asian Inst Technol Dept Ind Syst Engn Pathum Thani 12120 Thailand

Agility and flexibility in production are essential to meet the challenge of the demand surge for diverse personalized products that come in small volumes. Automatic assembly is one critical process at stake due to the inherent complexity of the number of parts, their shapes, and the randomness of their initial orientations and positions upon arrival at the station. This research introduces a digital twin framework with an information integration layer designed to enhance the flexibility and efficiency of multi-robot operating systems by collaborating with operator skills, addressing the demand for personalized production. The digital twin model allows operators to remotely implant their skills to oversee the assembly process and to control and train the multi-robot operations through an immersive virtual reality interface upon the arrival of new orders without disrupting the current operations of the physical system. The virtual world allows simulations of the algorithms for collisionfree movement and task optimization among multiple robots. Besides, image processing techniques are employed to identify parts arriving in random orientations at the station, providing flexibility during the physical assembly phase. According to the investigation, integrating virtual reality and real-time control challenges data processing and requires robust networking and computational resources. This study contributes to multi-robot operations by providing a scalable and adaptable solution by collaborating with operator skills that enhance both the planning and execution phases of complex assembly processes to new product specifications and changes in design. The methodology presented is foreseen to apply to other manufacturing processes.

关键词： Digital twin multi-robot system Assembly Collaboration Virtual reality Unorganized parts

来源：评论

学校读者我要写书评

暂无评论

Path Planning Approaches in multi-robot system: A Review

ENGINEERING REPORTS

引用

ENGINEERING REPORTS 2025年第1期7卷

作者： Banik, Semonti Banik, Sajal Chandra Mahmud, Sarker Safat Chittagong Univ Engn & Technol Dept Mechatron & Ind Engn Chittagong Bangladesh Chittagong Univ Engn & Technol Dept Mech Engn Chittagong Bangladesh

The essential factor in developing multi-robot systems is the generation of an optimal path for task completion by multiple robots. To ensure effective path planning, this paper studies the recent publications and provides a detailed review of the path planning approaches to avoid collisions in uncertain environments. In this article, path-planning approaches for multiple robots are categorized primarily into classical, heuristic, and artificial intelligence-based methods. Among the heuristic approaches, bio-inspired approaches are mostly employed to optimize the classical approaches to enhance their adaptability. The articles are analyzed based on static and dynamic scenarios, real-time experiments, and simulations involving hybrid solutions. The increasing focus on using hybrid approaches in dynamic environments is found mostly in the papers employing heuristic and AI-based approaches. In real-time applications, AI-based approaches are highly implemented in comparison to heuristic and classical approaches. Moreover, the findings from this review, highlighting the strengths and drawbacks of each algorithm, can help researchers select the appropriate approach to overcome the limitations in designing efficient multi-robot systems.

关键词： artificial intelligence classical approaches heuristic approaches multi-robot system path planning

来源：评论

学校读者我要写书评

暂无评论

multi-robot system optimization based on redundant serial spherical mechanism for robotic minimally invasive surgery

引用

robotICA 2019年第7期37卷 1202-1213页

作者： Nelson, C. A. Laribi, M. A. Zeghloul, S. Univ Nebraska Dept Mech & Mat Engn Lincoln NE 68588 USA Univ Poitiers ENSMA UPR 3346 Dept GMSCPprime InstCNRS F-86962 Futuroscope France

Serial spherical linkages have been used in the design of a number of robots for minimally invasive surgery, in order to mechanically constrain the surgical instrument with respect to the incision. However, the typical serial spherical mechanism suffers from conflicting design objectives, resulting in an unsuitable compromise between avoiding collision with the patient and producing good kinematic and workspace characteristics. In this paper, we propose a multi-robot system composed of two redundant serial spherical linkages to achieve this purpose. A multi-objective optimization for achieving the aforementioned design goals is presented first for a single redundant robot and then for a multi-robot system. The problem of mounting multiple robots on the operating table as well as the way cooperative actions can be performed is addressed. The sensitivity of each optimal solution (single-robot and multi-robot) to uncertainties in the design parameters is investigated.

关键词： multi-robot system Serial spherical mechanism Redundant linkage Surgical robot Minimally invasive surgery

来源：评论

学校读者我要写书评

暂无评论

multi-robot system Based on Swarm Intelligence for Optimal Solution Search 2

Multi-Robot System Based on Swarm Intelligence for Optimal S...

引用

2nd International Congress on Human-Computer Interaction, Optimization and robotic Applications (HORA)

作者： Ababii, Victor Sudacevschi, Viorica Braniste, Rodica Nistiriuc, Ana Munteanu, Silvia Borozan, Olesea Tech Univ Moldova Comp Sci & Syst Engn Dept Kishinev Moldova

ISBN: (数字)9781728193526

ISBN: (纸本)9781728193526

This work presents the results of the multi-robot system designing that works on the basis of Swarm Intelligence models and is used to search for optimal solutions. The process of searching for optimal solutions is performed based on a field of gradient vectors that can be generated by ionizing radiation sources, radio-electro-magnetic devices, temperature generating sources, etc. The concept of the operation system is based on the distribution in the search space of a multitude of Mobile robots that form a Mesh network between them. Each Mobile robot has a set of ultrasonic sensors for excluding the collisions with obstacles, two sensors for identifying the gradient vector of the analyzed field, resources for wireless storage, processing and communication. The direction of the Mobile robot movement is determined by the rotational speed of two DC motors which is calculated based on the models of Artificial Neural Networks. Gradient vectors generated by all Mobile robots in the system structure are used to calculate the movement direction.

关键词： multi-robot system Swarm Intelligence Optimal Solution Search Radiation Sources Gradient Field

来源：评论

学校读者我要写书评

暂无评论

multi-robot system task allocation mechanism for smart factory 8

Multi-robot system task allocation mechanism for smart facto...

引用

IEEE 8th Joint International Information Technology and Artificial Intelligence Conference (ITAIC)

作者： Huang, Yin Zhang, Yi Xiao, Hong Chongqing Univ Posts & Telecommun Res Ctr Intelligent Syst & Robot Chongqing Peoples R China

ISBN: (纸本)9781538681787

the smart factory has been developed many years, but the current situation of multi-robot task allocation mechanism only applicable to homogeneous robot systems, the problem of heterogeneous multi-robot cooperative task allocation is studied in this paper. A distributed auction algorithm is designed to classify different capabilities of robots with adopting atomic ability. The robot capability model and the task capability model are established, based on the distance between the robot and the target task and the matching degree between the robot capability and the task, a task allocation problem model is established to solve the problem of heterogeneous multi-robot collaborative task allocation. The simulation results show the correctness of the model and the effectiveness of the algorithm.

关键词： task allocation multi-robot system heterogeneous robots auction algorithm smart factory

来源：评论

学校读者我要写书评

暂无评论

multi-robot system for Real-Time Sensing and Monitoring 15

Multi-Robot System for Real-Time Sensing and Monitoring

引用

15th International Workshop on Research and Education in Mechatronics (REM)

作者： Derbas, Ahmad M. Al-Aubidy, Kasim M. Ali, Mohammed M. Al-Mutairi, Abdallah W. Philadelphia Univ Intelligent & Embedded Syst Res Grp Fac Engn Amman Jordan

ISBN: (纸本)9781479930296

The main objective of this research is to design and realize a multi-robot system for real-time sensing and monitoring suitable for hazardous and/or unreachable environment. The proposed system has three mobile robots;main, rover and eye. Each mobile robot has its own embedded microcontroller and set of sensors. Wireless communications between local site and these mobile robots are achieved by WiFi, ZigBee and Bluetooth techniques, and can be accessed through the internet. Wireless teleoperation of these mobile robots is a challenging task that requires an efficient interface and a reliable real-time control algorithm to avoid obstacles. The proposed system enables the authorized operator to send commands to the mobile robots, and receive scanned data and images from the environment through the internet. The mechanical part of the remote station has been built after careful selection of the design parameters using CAD/CAM tools. While, the system hardware and software parts of the embedded controllers were implemented using PROTEUS development tool to obtain the suitable design parameters. Then, real experiments have been achieved to demonstrate the system performance including the wireless teleoperation of the three mobile robots, their navigation to avoid obstacles, and real-time sensing and monitoring.

关键词： mobile robot multi-robot system remote sensing and monitoring wireless sensor networks obstacles avoidance

来源：评论

学校读者我要写书评

暂无评论

multi-robot system for mapping of the unknown environment

Multi-robot system for mapping of the unknown environment

引用

International Conference on Sensors, Mechatronics and Automation (ICSMA)

作者： Vondracek, Martin Dekan, Martin Duchon, Frantisek Stevo, Stanislav Slovak Univ Technol Bratislava Fac Elect Engn & Informat Technol Bratislava 81219 Slovakia

ISBN: (纸本)9783038350170

The aim of this article is proposal and implementation of the multi-robot system for mapping of the unknown environment. For the localization of each robot, simple odometry was used. Navigation of the robots is based on algorithm similar to bug algorithms. Communication between robots is based on polling. The system was implemented on the platform irobot Create. Practical experiments have proven that multi-robot system for mapping of the unknown environment is faster and more reliable than single robot system.

关键词： multi-robot system mapping of the unknown environment

来源：评论

学校读者我要写书评

暂无评论

Contribution to the path planning of a multi-robot system: centralized architecture

引用

INTELLIGENT SERVICE robotICS 2020年第1期13卷 147-158页

作者： Matoui, Fethi Boussaid, Boumedyen Metoui, Brahim Abdelkrim, Mohamed Naceur Natl Sch Engineers Gabes Gabes Tunisia

The current study is set to investigate the problem of planning trajectories for a multi-robot system in a dynamic environment. The planning study is conducted in a "barrier-free" and "with obstacle" environment, based on the artificial potential field (APF) technique. This study seeks to improve the APF method in order to have good trajectory planning of a multi-robot system. Also, for multi-robot mobile systems, one of the main technical considerations is the technique used to coordinate the movements of different robots. In this paper, we proposed a centralized architecture for the trajectory planning of a multi-robot system.

关键词： Path planning Potential field multi-robot system Dynamic environment Centralized architecture

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：