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Modified branching process for the reliability analysis of complex systems: multiple-robot systems

COMMUNICATIONS IN STATISTICS-THEORY AND METHODS 2018年第7期47卷 1641-1652页

作者： Fazlollahtabar, Hamed Niaki, Seyed Taghi Akhavan Sharif Univ Technol Dept Ind Engn Tehran Iran Iran Natl Elites Fdn Tehran Iran

Current design practice is usually to produce a safety system which meets a target level of performance that is deemed acceptable by the regulators. Safety systems are designed to prevent or alleviate the consequences of potentially hazardous events. In many modern industries the failure of such systems can lead to whole system breakdown. In reliability analysis of complex systems involving multiple components, it is assumed that the components have different failure rates with certain probabilities. This leads into extensive computational efforts involved in using the commonly employed generating function (GF) and the recursive algorithm to obtain reliability of systems consisting of a large number of components. Moreover, when the system failure results in fatalities it is desirable for the system to achieve an optimal rather than adequate level of performance given the limitations placed on available resources. This paper concerns with developing a modified branching process joint with generating function to handle reliability evaluation of a multi-robot complex system. The availability of the system is modeled to compute the failure probability of the whole system as a performance measure. The results help decision-makers in maintenance departments to analyze critical components of the system in different time periods to prevent system breakdowns.

关键词： Complex system reliability multiple robot Branching process

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Multi-robot Scan-n-Print for Wire Arc Additive Manufacturing

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ASME Letters in Translational robotics 2025年第1期1卷 011003页

作者： Lu, Chen-Lung He, Honglu Ren, Jinhan Dhar, Joni Saunders, Glenn Julius, Agung Samuel, Johnson Wen, John T. https://***/01rtyzb94Rensselaer Polytechnic Institute Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY 12180 Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY 12180 https://***/01rtyzb94Rensselaer Polytechnic Institute Department of Mechanical Aerospace and Nuclear Engineering Rensselaer Polytechnic Institute Troy NY 12180 https://***/01rtyzb94Rensselaer Polytechnic Institute Manufacturing Innovation Center Rensselaer Polytechnic Institute Troy NY 12180 Department of Mechanical Aerospace and Nuclear Engineering Rensselaer Polytechnic Institute Troy NY 12180

robotic Wire Arc Additive Manufacturing (WAAM) is a metal additive manufacturing technology offering flexible 3D printing while ensuring high-quality near-net-shape final parts. However, WAAM also suffers from geometric imprecision, especially for low-melting-point metals such as aluminum alloys. In this article, we present a multi-robot framework for WAAM process monitoring and control. We consider a three-robot setup: a 6-DoF welding robot, a 2-DoF trunnion platform, and a 6-DoF sensing robot with a wrist-mounted laser line scanner measuring the printed part height profile. The welding parameters, including the wire feed rate, are held constant based on the materials used, so the control input is the robot path speed. The measured output is the part height profile. The planning phase decomposes the target shape into slices of uniform height. During runtime, the sensing robot scans each printed layer, and the robot path speed for the next layer is adjusted based on the deviation from the desired profile. The adjustment is based on an identified model correlating the path speed to changes in height. The control architecture coordinates the synchronous motion and data acquisition between all robots and sensors. Using a three-robot WAAM testbed, we demonstrate significant improvements of the closed-loop scan-n-print approach over the current open loop result on both a flat wall and a more complex turbine blade shape.

关键词： welding process control multiple robot scan-n-print welding robot WAAM

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Map merging for multiple robots using Hough peak matching

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robotICS AND AUTONOMOUS SYSTEMS 2014年第10期62卷 1408-1424页

作者： Saeedi, Sajad Paull, Liam Trentini, Michael Seto, Mae Li, Howard Univ New Brunswick COBRA Grp Fredericton NB Canada MIT CSAIL Lab Cambridge MA 02139 USA Def Res & Dev Canada Suffield Suffield AB Canada Def Res & Dev Canada Atlantic Dartmouth NS Canada

Navigation in a GPS-denied environment is an essential requirement for increased robotics autonomy. While this is in some sense solved for a single robot, the next challenge is to design algorithms for a team of robots to be able to map and navigate efficiently. The key requirement for achieving this team autonomy is to provide the robots with a collaborative ability to accurately map an environment. This problem is referred to as cooperative simultaneous localization and mapping (SLAM). In this research, the mapping process is extended to multiple robots with a novel occupancy grid map fusion algorithm. Map fusion is achieved by transforming individual maps into the Hough space where they are represented in an abstract form. Properties of the Hough transform are used to find the common regions in the maps, which are then used to calculate the unknown transformation between the maps. Results are shown from tests performed on benchmark datasets and real-world experiments with multiple robotic platforms. (C) 2014 Elsevier B.V. All rights reserved.

关键词： Simultaneous localization and mapping (SLAM) multiple robot Map merging Hough space and image entropy

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ROS Based Heterogeneous multiple robots Control Using High Level User Instructions

ROS Based Heterogeneous Multiple Robots Control Using High L...

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IEEE Region 10 Conference (TENCON)

作者： Rajapaksha, U. U. Samantha Kumara Jayawardena, Chandimal MacDonald, Bruce A. Sri Lanka Inst Informat Technol Dept Informat Technol Malabe Sri Lanka Sri Lanka Inst Informat Technol Dept Comp Syst & Engn Malabe Sri Lanka Univ Auckland Dept Elect Comp & Software Engn Auckland New Zealand

ISBN: (纸本)9781665495325

Heterogeneous multiple robots(HMR) can be used in daily life for smart homes and industry. The differences in implementing different HMR can be minimized using middleware like robot Operating System (ROS). However, the ROS topics, nodes, and message formats to subscribe and publish can differ from one robot to another. When a user expresses high-level instructions through the Web interface, all multiple robots must understand instructions uniformly and take the actions accordingly without considering each robot's internal software and hardware implementation. This paper represents an optimized ontology-based algorithm for HMR registration and control for high-level instructions. Autonomous robot registration was achieved using an ontology-based optimized algorithm. User-level high-level instructions are processed using an ontology-based algorithm to determine the corresponding actions for each robot. Finally, autonomous publication and subscription to different ROS topics were implemented using another optimized algorithm. The evaluation of the proposed algorithms was completed with Turtlebot, Husky and TiaGo robots using gazebo.

关键词： ROS Ontology multiple robot Navigation Gazebo

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Multi-Path Planning for Autonomous Navigation of multiple robots in a Shared Workspace with Humans 6

Multi-Path Planning for Autonomous Navigation of Multiple Ro...

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6th International Conference on Control, Automation and robotics (ICCAR)

作者： Lan Anh Trinh Ekstrom, Mikael Curuklu, Baran Malardalen Univ Sch Innovat Design & Technol Vasteras Sweden

ISBN: (纸本)9781728161396

Path finding for multiple robots is one of most important problems in robotics when to find a way to move robots from their starting positions to reach their respective goals without collisions. However, in the case of a complex environment with the presence of humans and other unpredictable moving objects, fixing a single path to the goal may lead to a situation where there are a lot of obstacles on the planned path and the robots may fail to realise the moving plan. To address this issue, a new approach of using multiple path planning where each robot has different options to choose its path to the goal is introduced in this paper. The information about planned moving paths are shared among the robots in the working domain, combined with obstacle avoidance constraints in local ranges, and formulated as an optimisation problem. Solution of the problem leads to the optimal moving plans of robots. The effectiveness of the proposed approach is demonstrated by experimental results.

关键词： multiple path planning multiple robot autonomous navigation obstacle avoidance

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QUICK TWO-WAY TIME MESSAGE EXCHANGE FOR TIME SYNCHRONIZATION IN robot NETWORKS

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INTERNATIONAL JOURNAL OF robotICS & AUTOMATION 2018年第6期33卷 628-634页

作者： Shi, Fanrong Tuo, Xianguo Lu, Jing Ren, Zhenwen Ran, Lili Southwest Univ Sci & Technol Robot Technol Used Special Environm Key Lab Sichu Mianyang Sichuan Peoples R China Sichuan Univ Sci & Engn Coll Chem & Environm Zigong Sichuan Peoples R China

Time synchronization is important for coordination and control in multiple robot networks. Two-way time message exchange (TTME) time synchronization is efficient, but due to variable response latency, it does not completely meet the requirements for quadrotor robot groups. Aiming to provide accurate time synchronization for robots, the proposed quick TTME synchronization starts a downlink after an uplink quickly and tries to maintain a fixed clock offset for the estimation. A timeout constraint is used to filter invalid observations and optimize clock offset estimation. This avoids the increasing clock offset caused by large software latencies and communication link delays, guarantees a fixed clock offset for TTME, and provides precise and stable clock offset estimation for time synchronization in robot networks.

关键词： Synchronization multiple robot quadrotor clock offset estimation wireless sensor networks quick two-way time message exchange

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Optimal path planning of multi-robot in dynamic environment using hybridization of meta-heuristic algorithm

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INTERNATIONAL JOURNAL OF INTELLIGENT robotICS AND APPLICATIONS 2022年第4期6卷 625-667页

作者： Paikray, Hemanta Kumar Das, Pradipta Kumar Panda, Sucheta VSSUT Dept Comp Applict Burla Odisha India VSSUT Dept Informat Technol Burla Odisha India

This paper investigates an innovative strategy for generating a collision and deadlock-free optimal position for the individual robots by satisfying the constraints of a dynamic environment for path planning of multiple mobile robots. The current study emphasized the shortfalls of the previous investigation on multi-robot path planning and offered an energetic methodology through the hybridization of modified Q-learning with the improved version of particle swarm optimization (IPSO) and arithmetic optimization algorithm (AOA). In the current scenario, classical Q-learning is modified through a reward policy and generates the best solution for PSO. The basic PSO is upgraded through the perception of ascendency in human civilization and generates an optimal location in the succeeding iteration using an arithmetic optimization algorithm. The proposed hybrid algorithm primarily highlights evaluating the optimal deadlock and starvation free subsequent positions of every robot from their current position, optimizing the path distance for every robot. The authentication of the projected hybrid procedure has been confirmed through benchmark function, computer real robot through webbots simulator, and simulation. Further, the efficacy of the projected procedure has been confirmed by equating the result achieved from MQL-IPSO-AOA with Q-learning, AOA, and IPSO, and also equating the result of the projected procedure with state-of- arts.

关键词： MQL-IPSO-AOA Run time multiple robot Path planning Optimal collision free path Energy utilization

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Localizing Odor Source with Multi-robot based on Hybrid Particle Swarm Optimization 11

Localizing Odor Source with Multi-robot based on Hybrid Part...

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11th International Conference on Natural Computation (ICNC) / 12th International Conference on Fuzzy Systems and Knowledge Discovery (FSKD)

作者： Zhang, Yong Zhang, Jianhua Hao, Guosheng Zhang, Wanqiu China Univ Min & Technol Sch Informat & Elect Engn Xuzhou Peoples R China Xuzhou Inst Technol Dept Mech & Elect Engn Xuzhou Peoples R China Jiangsu Normal Univ Sch Comp Sci & Technol Xuzhou Peoples R China

ISBN: (纸本)9781467376792

Odor source localization is a challenging task for mobile robots in the real world. A refined hybrid particle swarm optimization by combining with bacterial foraging optimization is proposed for odor source localization of a swarm of robots. In the proposed algorithm, a chemotaxis operation is integrated into particle swarm optimization to lead robots to track a plume, and an elimination-dispersal operation is adopted to prevent particles trapping in local minim. Simulation results show that the proposed method can find an odor source with higher success rate.

关键词： multiple robot odor source bacteria foraging optimization particle swarm optimization

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Goal assignment and trajectory planning for large teams of interchangeable robots

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AUTONOMOUS robotS 2014年第4期37卷 401-415页

作者： Turpin, Matthew Mohta, Kartik Michael, Nathan Kumar, Vijay Univ Penn Philadelphia PA 19104 USA Carnegie Mellon Univ Pittsburgh PA 15213 USA

This paper presents Goal Assignment and Planning: a computationally tractable, complete algorithm for generating dynamically feasible trajectories for interchangeable (identical) robots navigating through known cluttered environments to goal states. This is achieved by assigning goal states to robots to minimize the maximum cost over all robot trajectories. The computational complexity of this algorithm is shown to be polynomial in the number of robots in contrast to the expected exponential complexity associated with planning in the joint state space. This algorithm can be used to plan trajectories for dozens of robots, each in a potentially high dimensional state space. A series of planar case studies are presented and finally, experimental trials are conducted with a team of six quadrotor robots navigating in a constrained three-dimensional environment.

关键词： multiple robot Trajectory planning Task assignment Micro aerial robot

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SOFTWARE ARCHITECTURE AND TASK DEFINITION OF A multiple HUMANOID COOPERATIVE CONTROL SYSTEM

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INTERNATIONAL JOURNAL OF HUMANOID robotICS 2009年第2期6卷 173-203页

作者： Lim, Heonyoung Kang, Yeonsik Lee, Joongjae Kim, Jongwon You, Bum-Jae Seoul Natl Univ Sch Mech & Aerosp Engn Seoul South Korea Korea Inst Sci & Technol Ctr Cognit Robot Res Seoul South Korea

This paper presents a cooperative control software architecture that coordinates a team of multiple humanoid to complete a mission by collaborating with each other. The mission of the humanoid team is decomposed into tasks and distributed to each humanoid to be executed. Each task is described by the proposed humanoid action primitives, which are designed to abstract broad classes of humanoid tasks appropriately. In particular, missions and tasks for the humanoid team are designed by using a finite state machine with a developed user interface. The multiple humanoid cooperative control software consists of 3 layers: the mission layer, task layer, and action layer. The software architecture has scalability to the number of humanoids and the number of assigned missions with its framework based on the CORBA middleware, which integrates many different functionalities of the humanoid. The feasibility and robustness of the implemented software architecture are verified through successful completion of the mission assigned to the humanoid team while each humanoid performs its given task sequentially.

关键词： Humanoid team multiple robot cooperative control robot control software

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