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Annual Conference of the Society-of-Instrument-and-Control-Engineers (SICE)

作者： Wang, Ke Jia, Songmin Li, Yuchen Li, Xiuzhi Beijing Univ Technol Coll Elect Informat & Control Engn Beijing Peoples R China

ISBN: (纸本)9784907764401

multi-robotic system is widely used in exploring in large-scale unknown environment and performing the complex tasks. This paper presents exploration mode and goal oriented mode of path planning for multi-robotic system using RTM as communication platform. We use the Player Project works as simulation platform to realize topological map for multi-robotic system and use SP(2)ATM algorithm for path planning. In order to improve the effectiveness of the path planning, ICP algorithm is used for robot's localization. This paper presents the architecture of the proposed method and gives some experiments to verify the effectiveness.

关键词： multi-robotic system path planning RTM SP(2)ATM ICP

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Evolution of fuzzy behaviors for multi-robotic system

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roboticS AND AUTONOMOUS systemS 2007年第2期55卷 146-161页

作者： Vadakkepat, Prahlad Peng, Xiao Kiat, Quek Boon Heng, Lee Tong Natl Univ Singapore Dept Elect & Comp Engn Singapore 117576 Singapore

In a multi-robotic system, robots interact with each other in a dynamically changing environment. The robots need to be intelligent both at the individual and group levels. In this paper, the evolution of a fuzzy behavior-based architecture is discussed. The behavior-based architecture decomposes the complicated interactions of multiple robots into modular behaviors at different complexity levels. The fuzzy logic approach brings in human-like reasoning to the behavior construction, selection and coordination. Various behaviors in the fuzzy behavior-based architecture are evolved by genetic algorithm (GA). At the lowest level of the architecture hierarchy, the evolved fuzzy controllers enhanced the smoothness and accuracy of the primitive robot actions. At a higher level, the individual robot behaviors have become more skillful after the evolution. At the topmost level, the evolved group behaviors have resulted in aggressive competition strategy. The simulation and real-world experimentation on a robot-soccer system justify the effectiveness of the approach. (c) 2006 Elsevier B.V. All rights reserved.

关键词： behavior-based system fuzzy logic genetic algorithm multi-robotic system

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Formal Development and Quantitative Assessment of a Resilient multi-robotic system

Formal Development and Quantitative Assessment of a Resilien...

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5th International Workshop Software Engineering for Resilient systems (SERENE)

作者： Tarasyuk, Anton Pereverzeva, Inna Troubitsyna, Elena Laibinis, Linas Abo Akad Univ FIN-20520 Turku Finland

ISBN: (纸本)9783642408946;9783642408939

Ensuring resilience of multi-robotic systems is a notoriously difficult task. Decentralised architectures and asynchronous communication require powerful modelling techniques to demonstrate system resilience. In this paper, resilience of a multi-robotic system is defined as the ability to achieve goals despite robot failures. We demonstrate how to rigorously specify and verify essential properties of resilience mechanisms of multi-robotic systems by refinement in Event-B. To assess the desired resilience characteristics, we augment our formal models with statistical data and rely on probabilistic verification. The automated support provided by the PRISM model checker allows us to calculate the probability of goal reachability in the presence of robot failures and compare different reconfiguration strategies for selected architectures. We demonstrate our approach by a case study - development and assessment of a cleaning multi-robotic system.

关键词： Formal modelling resilience Event-B refinement probabilistic model checking multi-robotic system

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Research on Map Merging for multi-robotic system Based on RTM

Research on Map Merging for Multi-robotic System Based on RT...

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IEEE International Conference on Information and Automation (ICIA)

作者： Wang, Ke Jia, Songmin Li, Yuchen Li, Xiuzhi Guo, Bing Beijing Univ Technol Coll Elect Informat & Control Engn Beijing Peoples R China

ISBN: (纸本)9781467322379

multi-robotic system is widely used in exploring in large-scale unknown environment and performing the complex tasks. This paper presents a method of local map merging for multi-robotic system using RTM as communication platform. We integrate Scale-Invariant Feature Transform (SIFT) feature matching information with iterative closest point (ICP) algorithm to realize the local map merging. We use the USARSim as simulation platform to realize topological map and map merging for the environment in which mobile robots moving using the proposed method. The paper details the architecture of the proposed method and gives some experiments to verify the effectiveness.

关键词： multi-robotic system RTM map merging SIFT ICP

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multi-robotic system with Self-organization for Search of Targets in Covered Area

Multi-robotic System with Self-organization for Search of Ta...

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International Conference on Informatics in Control, Automation and robotics

作者： Jolana Sebestyenova Peter Kurdel Institute of Informatics Slovak Academy of Sciences

ISBN: (纸本)9781479979202

The paper introduces the multi-robot area coverage problem, wherein a group of robots must inspect every point of a 2-dimensional test environment and surround all contaminations (or enemies) found. Selforganizing robotic systems are able to accomplish complex tasks in a changing environment, using local interactions among individual agents and local environment without an external global control. Our interest in this area is motivated by an involvement in a project with a goal to solve tasks of difficult area coverage and surveillance by a large team of small autonomous robots. In the paper, the architecture to achieve this is described, and simulation results are presented to compare efficiency of coverage of the area and surround of found targets using robots groups having different sensors ranges.

关键词： Area Coverage multi-robotic system Emergent Behaviour Self-organization Cellular Automata Search and Surround of Targets

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multi-robotic system Path Planning Based on RTM

Multi-Robotic System Path Planning Based on RTM

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Society of Instrument and Control Engineers Annual Conference

作者： Ke Wang Songmin Jia Yuchen Li Xiuzhi Li College of Electronic Information & Control Engineering Beijing University of Technology

ISBN: (纸本)9781467322591

multi-robotic system is widely used in exploring in large-scale unknown environment and performing the complex tasks. This paper presents exploration mode and goal oriented mode of path planning for multi-robotic system using RTM as communication platform. We use the Player Project works as simulation platform to realize topological map for multi-robotic system and use SP2ATM algorithm for path planning. In order to improve the effectiveness of the path planning, ICP algorithm is used for robot's localization. This paper presents the architecture of the proposed method and gives some experiments to verify the effectiveness.

关键词： multi-robotic system Path planning RTM SP2ATM ICP

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Experimental validation of a constrained control architecture for a multi-robot bricklayer system

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MECHATRONICS 2024年 98卷

作者： Ambrosino, Michele Boucher, Fabian Mengeot, Pierre Garone, Emanuele Univ Libre Bruxelles Serv Automat & Anal Syst Brussels Belgium NV BESIX SA Brussels Belgium

robotics in construction is an emerging field that aims to automate various construction activities. Among the various innovative technologies for the construction sector, in this paper we focus on robotic solutions for the bricklaying task. In particular, we describe and explain in detail the implementation of a control framework for a recently introduced multi -robot bricklaying concept, specifically designed for laying activities with large and heavy blocks. The multi -robot system subject of this work is based on the collaboration of a robotic manipulator and a crane. The control architecture proposed to perform the construction task belongs to the Explicit Reference Governor (ERG) formalism. The ERG is a constrained control structure that enforces the constraints of the system and ensures that the robotic system operates correctly and safely. The efficiency of the proposed solution is confirmed by experimental validation on a custom-made crane and a KUKA LBR IIWA14R820 robotic arm.

关键词： robotics multi-robotic system Construction robots robotic bricklayer Constrained control

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Relative Localization Approach for Combined Aerial and Ground robotic system

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JOURNAL OF INTELLIGENT & robotic systemS 2015年第1期77卷 113-133页

作者： Wanasinghe, Thumeera R. Mann, George K. I. Gosine, Raymond G. Mem Univ Newfoundland Fac Engn & Appl Sci IS Lab St John NF A1B 3X5 Canada

The objective of this paper is to develop a relative localization method for coordinated control of multi-robotic systems equipped with both aerial and ground vehicles. To overcome the issues of filter initialization and state bias at hard linearization in the general EKF approach, this paper proposes a pseudo-linear measurement-based technique for relative localization where true nonlinear measurements are algebraically transformed into pseudo-linear measurements. These pseudo-linear measurements are then employed for sensor fusion. A nonlinear observability analysis is performed to identify the sufficient conditions under which the proposed pseudo-linear measurement-based relative localization scheme is locally weakly observable. The estimation consistency is analyzed in order to verify that the proposed estimator is consistent and that none of the covariance matrixes lead to ill conditions during the estimation process. The performance of the proposed relative localization scheme is compared with traditional EKF-based methods for unknown filter initialization. The results demonstrate that the proposed method is capable of achieving both the acceptable positional and orientational accuracy within 12 iterations, whereas traditional methods require more than 250 iterations to achieve the same accuracy. This observation verified that the proposed relative localization approach has fast convergence property for unknown filter initialization compared to traditional EKF-based methods.

关键词： multi-robotic system Relative localization Pseudo-linear measurements Nonlinear observability Aerial and ground vehicles

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Numerical simulation of the workspace of robots with moving bases in the multi-agent system 14

Numerical simulation of the workspace of robots with moving ...

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14th International Symposium on Intelligent systems

作者： Behera, Laxmidhar Rybak, Larisa Malyshev, Dmitry Khalapyan, Sergey Indian Inst Technol Kanpur Kanpur 208016 Uttar Pradesh India BSTU Kostyukov Str 46 Belgorod 308012 Russia NUST MISiS Stary Oskol Technol Inst Branch Makarenko Microdist 42 Stary Oskol 309516 Russia

multi-robotic systems are used to solve many practical tasks in wide areas, including military surveillance, reconnaissance, rescue operations, warehousing, etc. Such systems can be represented as groups of intelligent robots capable of interacting with each other and jointly implementing various tasks. One of the problems in the development of such systems is the safe navigation of a group of robots. The restrictions imposed by the structural elements of its agents are determined to solve it. The article presents the structure of a multi-robotic system consisting of parallel and serial robots installed on mobile platforms. The parallel robot is made based on a tripod with the possibility of rotating the robot base about the horizontal axis. Determining the workspace boundaries of robots eliminates collisions between agents and external objects. The developed algorithms are based on deterministic methods for approximating the solutions set of nonlinear inequalities systems with restrictions in spaces of coordinates in the form of n-dimensional boxes. The relative positions of mobile platforms with manipulators, at which collisions are possible, are determined. (C) 2021 The Authors. Published by Elsevier B.V.

关键词： Workspace parallel robot multi-robotic system

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Dynamic State Feedback Control of robotic Formation system

Dynamic State Feedback Control of Robotic Formation System

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Chang, Chih-Fu Fu, Li-Chen Natl Taiwan Univ Electircal Engn Dept Taipei Taiwan

ISBN: (纸本)9781424466757

This paper proposes a constructive control approach, dynamic state feedback formation control, for achieving the realization of the multi-Robot Formation system (MRFS) with respect to the problem of dilation of a formation shape and stabilization issue in nonholonomic system simultaneously. Combining with theoretical analysis, the proposed control approach has been successfully to deal with the following design issues: one is to elude the switch control of the nonholonomic MRFS for preventing the divergence of the MRFS;another one is to stabilize the MRFS which is allowed to change the interconnection structure dynamically.

关键词： Formation Control Dynamic Feedback Control multi-robotic system Stabilization

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