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distributed Linear Heterogeneous Reconfiguration of Cubic Modular robots via Simultaneous Tunneling and Permutation

IEEE TRANSACTIONS ON ROBOTICS 2020年第1期36卷 62-77页

作者： Kawano, Hiroshi NTT Corp NTT Commun Sci Labs Atsugi Kanagawa 2430198 Japan

Two types of reconfiguration-heterogeneous reconfiguration, in which all the modules are considered to be nonidentical, and homogeneous reconfiguration, in which they are considered to be identical-are widely studied in modular robotics research. Homogeneous reconfiguration can manage the transformation of the whole configuration of the robot structure, whereas heterogeneous reconfiguration can manage not only this transformation, but also the permutation process for navigating all modules to their exact target positions in the transformed configuration. However, the transformation process and time-consuming permutation process cannot always be executed simultaneously in heterogeneous reconfiguration. As a result, it takes much more time to reconfigure heterogeneous modular robots than it does to reconfigure homogeneous ones. In the previous research, linear homogeneous transformation algorithms for modular robots have been proposed. However, only quadratic permutation algorithms are available for heterogeneous lattice modular robots. This article studies a reconfiguration algorithm for heterogeneous lattice modular robots with linear operation time cost. The algorithm is based on simultaneous tunneling and permutation;a robot transforms its configuration via homogeneous tunneling motion, but permutation of each module's position is carried out simultaneously during the tunneling transformation. The approach also makes the time cost for the whole permutation process linear. To achieve this, the idea of a transparent meta-module is introduced, which allows the modules belonging to a meta-module to pass through the spaces occupied by other meta-modules. The algorithm is provided in both centralized and distributed form. We prove the correctness and completeness of the proposed algorithm. We also show some results of the reconfiguration simulation of heterogeneous modular robots with three-dimensional 2 x 2 x 2 cubic meta-modules by the proposed algorithm.

关键词： Cellular robots computational geometry cubic modular robots distributed robots meta-module motion planning multirobot system reconfiguration

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A robot-assisted adaptive communication recovery method in disaster scenarios

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COMPLEX & INTELLIGENT SYSTEMS 2024年第1期10卷 1531-1549页

作者： Hao, Kuangrong Zhao, Chenwei Liu, Xiaoyan Donghua Univ Coll Informat Sci & Technol Engn Res Ctr Digitized Text & Apparel Technol Minist Educ Shanghai 201620 Peoples R China

Communication recovery is necessary for rescue and reconstruction scenarios including earthquakes, typhoons, floods, etc. The rapid and stable communication link can provide efficient victims' real-time information for the rescue process. However, traditional centralized communication links cannot traverse the further victims with information-sharing requirements. And the even communication link distribution leads to a load burden on the crowded victim area. Thus, we propose a three-layer architecture consisting of the emergency communication vehicle, backbone links, and branch links to rapidly recover communication via mobile robots. Then, considering victims' distribution, an improved MaxMin distance algorithm is presented as the basis of robot dispatch. The relay probability of the link is also estimated with closed formulae. Finally, simulation results verify that our proposed algorithm can recover communication with lower delay and higher packet delivery ratio.

关键词： Communication recovery Emergency communication distributed robots Disaster scenario Ad hoc network

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distributed tunneling reconfiguration of cubic modular robots without meta-module's disassembling in severe space requirement

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ROBOTICS AND AUTONOMOUS SYSTEMS 2020年第0期124卷 103369-000页

作者： Kawano, Hiroshi NIT Corp NTT Commun Sci Labs Atsugi Kanagawa 2430198 Japan

This paper studies a tunneling-based reconfiguration algorithm for cubic modular robots. Tunneling-based reconfiguration is a promising approach for cubic modular robot reconfiguration in severe space requirements. This is because a tunneling modular robot only uses spaces occupied by the start and goal configurations. However, previously proposed methods have a limitation on the arrangement of the start and goal configurations, in which the overlapped part between them must be connected. We propose a tunneling reconfiguration algorithm that removes the limitation and is available for cases with multi-overlapped parts between the start and goal configurations. It is often the case that a tunneling-based reconfiguration assumes the use of a meta-module-based structure to maintain the connectivity and mobility of the robot structure. However, in previous methods, the meta-modules often come apart during the tunneling process, and each module belongs to a different meta-module before and after the reconfiguration. The proposed algorithm also solves this problem. We implement the algorithm in a distributed form and prove its completeness for assumed robot structures. We examine the proposed tunneling algorithm by simulation. (C) 2019 Elsevier B.V. All rights reserved.

关键词： Cubic modular robots Reconfiguration algorithm distributed robots

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A distributed Two-Layer Framework for Teleoperated Platooning of Fixed-Wing UAVs via Decomposition and Backstepping

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IEEE ROBOTICS AND AUTOMATION LETTERS 2021年第2期6卷 3655-3662页

作者： Lee, Minhyeong Lee, Dongjun Seoul Natl Univ Dept Mech Engn IAMD & IER Seoul 08826 South Korea

We propose a novel distributed control framework for teleoperated platooning of multiple three-dimensional (3D) fixed-wing unmanned aerial vehicles (UAVs), consisting of the following two layers: 1) virtual frame layer, which generates the target 3D nonholonomic motion of the virtual nonholonomic frames (VNFs) using the nonholonomic decomposition (D. J. Lee, 2010) and backstepping in such a way that the VNFs are to maintain the platoon formation in a distributed manner while respecting the directionality of the fixed-wing UAV;and 2) local control layer, which drives each fixed-wing UAV to track their respective VNF with their under-actuation and aerodynamic disturbance effects fully taken into account by using the backstepping and Lyapunov-based design techniques. Convergence and stability of salient aspects of each layer and their combination are theoretically established. Simulations with 25 fixed-wing UAVs and a haptic device are also performed to validate the theory with their multimedia provided at https://***/Z3Mo66KIsns.

关键词： Decomposition distributed robots fixed-wing unmanned aerial vehicles (UAVs) formation control nonholonomic constraint platoon teleoperation

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Teleoperation of a platoon of distributed wheeled mobile robots with predictive display

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AUTONOMOUS robots 2018年第8期42卷 1819-1836页

作者： Ha, Changsu Yoon, Jaemin Kim, Changu Lee, Yonghan Kwon, Seongjin Lee, Dongjun Seoul Natl Univ Dept Mech & Aerosp Engn Seoul 151744 South Korea Seoul Natl Univ IAMD Seoul 151744 South Korea

We propose a novel teleoperation framework for multiple distributed non-holonomic mobile robots (WMR), each equipped with onboard sensing and computing using peer-to-peer communication. One of the WMRs is designated as the leader with the first-person view camera and SLAM, while the other WMRs maintain a certain desired formation relative to their respective fore-running WMR in a distributed manner. For this, we first utilize nonholonomic passive decomposition to split the platoon kinematics into that of the formation-keeping aspect and the collective tele-driving aspect. We then design the controls for these two aspects individually and distribute them into each WMR while incorporating their nonholonomic constraint and distribution requirement. We also propose a novel predictive display, which, by providing the user with the estimated current and predicted future pose of the platoon and future possibility of collision while incorporating the uncertainty inherent to the distribution, can significantly enhance the tele-driving performance. Experiments and user study are also performed.

关键词： distributed robots Nonholonomic constraint Predictive display Teleoperation

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Greenhouse Based Orientation Measurement System using Spread Spectrum Sound

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IFAC-PapersOnLine 2018年第17期51卷 108-111页

作者： Huang, Zichen Fukuda, Hiroki Wai Jacky, Tsay Lok Zhao, Xunyue Habaragamuwa, Harshana Shiigi, Tomoo Suzuki, Tetsuhito Naoshi, Kondo Graduate School of Agriculture Kyoto University Kyoto6068502 Japan Department of Ocean Mechanical Engineering National Fisheries University Shimonoseki 7596595 Japan

Traditional greenhouse robots are heavy and expensive, so a small size with low cost platform is needed. When operating small distributed robots in a greenhouse, a positioning and orientation system will be needed for the accurate control. While the traditional methods of determining orientation have limited application in greenhouses due to the errors associated with indoor GPS compasses or the sensitivity of magnetic direction sensors to magnetic materials in the greenhouse. In this research, we develop methods for determining orientation using a sound signal and two receivers. These methods were then experimentally evaluated in a greenhouse with and without manually removing distance reflection data. After deleting these signal reflection errors, the average accuracy of the two methods was determined to be 3.1° and 2.8° respectively. © 2018

关键词： Greenhouses Costs Crystal orientation Magnetic materials Signal receivers Spectroscopy Accuracy Direction sensors distributed robots Orientation measurements Positioning and orientation systems Positioning system Signal reflection Spread spectra

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Discrete Analysis of Obstacle Clustering by distributed robots

Discrete Analysis of Obstacle Clustering by Distributed Robo...

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IEEE International Conference on Robotics and Biomimetics

作者： Yuichiro Sueoka Takuto Kita Masato Ishikawa Yasuhiro Sugimoto Koichi Osuka Dept. of Mechanical Engineering Osaka University 2-1 Yamadaoka Suita Osaka 565-0871 JAPAN

ISBN: (纸本)9781467321259

In this paper, we discuss some phenomena of obstacle clustering by distributed autonomous robots, in the light of space-discretization (or cellular automata) approach. This work was motivated by Swiss robots which collect scattered obstacles into some clusters without any global information nor intelligent concentrated controller. In order to evaluate these phenomena from quantitative and statistical points of view, we propose an analysis platform using discretized state space, i.e., a hexagonal cellular space where the robots' direction and velocity are discretized as well. We then introduce two types of local rule, sensor avoiding rule (which resembles the Swiss Robot's action) and push & turn rule and compare the results focusing on size of resulting clusters, transient/steady-state behaviors and density of obstacles and robots.

关键词： distributed robots robots push

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System for Creation, Programming and Availability of distributed Robot Teams using Collective Knowledge

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IEEE LATIN AMERICA TRANSACTIONS 2016年第10期14卷 4392-4401页

作者： Silva, P. H. L. Burlamaqui, A. M. F. Univ Fed Rural Semiarido UFERSA Mossoro RN Brazil Univ Fed Rio Grande Norte UFRN Natal RN Brazil

This paper addresses the problem of programming, control and availability of distributed robots teams. Systems based on robots working together collaboratively has been the subject of much research in recent years. For distributed robots systems there is a latent need for research to enable the use of such systems by end users with no or almost no experience with programming or robotics. Thus, this paper proposes a system architecture that allows the creation and programming of robot teams, allowing and users to manage them as a single system and simple way using collective knowledge acquired both programmers as of the and users. The tests are performed by an application that was developed under the concepts of this architecture. It provides a set of special operations by which and users can connect, create and control robots teams at high level. The process of creation, programming and control of two teams is presented in well defined steps. The results are satisfactory and show that the operating strategy of the proposed system meets fundamental aspects at the system level such as modularity, flexibility and ease of access for end users.

关键词： distributed robots Creation of Robot Teams Programming Robot Teams Collective Knowledge

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A multi-pheromone stigmergic distributed robot coordination strategy for fast surveillance task execution in unknown environments

A multi-pheromone stigmergic distributed robot coordination ...

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International Joint Conference on Neural Networks

作者： Rodrigo Calvo Ademir A. Constantino Mauricio Figueiredo Department of Computer Science State University of Maringa Av. Colombo 5790 Maringa-PR Brazil Department of Computer Science Federal University of Sao Carlos Rod.Washington Luiz 235 Sao Carlos-SP Brazil

ISBN: (纸本)9781479919611

A bio-inspired coordination strategy is improved aiming at reducing the time needed to mobile multiagent systems accomplish surveillance tasks. The original strategy is based on a modified version of the basic ant system algorithm. Only repulsive pheromone are considered in that version. The new strategy version uses other two kinds of pheromone, as well. Now the agents are able to mark strategic locations for reducing the path length. At the beginning the agents try any trajectory to accomplish the surveillance task. After many trials the agents choose preferably the paths that reduce the total length (time) needed to complete the surveillance task. Comparisons between the original and the extended coordination strategies are presented. Results show that the extended strategy achieves the best performance, that is, the surveillance tasks are accomplished in a period of time shorter than that needed by the original one in view of the scenarios examined.

关键词： modified version basic ant system algorithm scenarios examined Unknown environments distributed robots Task execution Pheromones path length optimum performance

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Precise truss assembly using commodity parts and low precision welding

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INTELLIGENT SERVICE ROBOTICS 2014年第2期7卷 93-102页

作者： Komendera, Erik Reishus, Dustin Dorsey, John T. Doggett, William R. Correll, Nikolaus Univ Colorado Dept Comp Sci Boulder CO 80309 USA NASA Langley Res Ctr Hampton VA 23681 USA

Hardware and software design and system integration for an intelligent precision jigging robot (IPJR), which allows high precision assembly using commodity parts and low-precision bonding, is described. Preliminary 2D experiments that aremotivated by the problem of assembling space telescope optical benches and very large manipulators on orbit using inexpensive, stock hardware and low-precision welding are also described. An IPJR is a robot that acts as the precise "jigging", holding parts of a local structure assembly site in place, while an external low precision assembly agent cuts and welds members. The prototype presented in this paper allows an assembly agent (for this prototype, a human using only low precision tools), to assemble a 2D truss made of wooden dowels to a precision on the order of millimeters over a span on the order of meters. The analysis of the assembly error and the results of building a square structure and a ring structure are discussed. Options for future work, to extend the IPJR paradigm to building in 3D structures at micron precision are also summarized.

关键词： Robotic assembly Autonomous robots Precision manipulation Space robotics distributed robots

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