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Analysis of behavior based control for planetary cliff descent using cooperative robots

Erik Mumm, Shane Farritor, Terrance L. Huntsberger, Paul S. Schenker, Grant R. Gerhart, Charles M. Shoemaker, Douglas W. Gage
2003 Unmanned Ground Vehicle Technology V  
This paper describes a control system for a team of three robots that access cliff walls at inclines up to 70°.  ...  This paper describes the control of these three robots so they function as a team to explore the cliff face.  ...  This research was partially performed while Erik Mumm was a visiting researcher in the Planetary Robotics Laboratory of the JPL, California Institute of Technology, under a contract with NASA. 10.References  ... 
doi:10.1117/12.497844 fatcat:64awgpj5z5gwhngfckunz7ugre

Biologically Inspired Intelligence with Applications on Robot Navigation [chapter]

Chaomin Luo, Gene En Jan, Zhenzhong Chu, Xinde Li
2018 Artificial Intelligence - Emerging Trends and Applications  
In this chapter, a neural dynamics approach is proposed for complete area coverage by multiple robots.  ...  In this chapter, multiple robots cooperate to achieve a common coverage goal efficiently, which can improve the work capacity, share the coverage tasks, and reduce the completion time by a biologically  ...  Most recently, an idea of a leader robot and other follower robots for planning path and controlling robots was proposed using the behaviour-based model [44] .  ... 
doi:10.5772/intechopen.75692 fatcat:dy3aiiozyvgtbf7bsstyvafgky

Planetary Cliff Descent Using Cooperative Robots

Erik Mumm, Shane Farritor, Paolo Pirjanian, Chris Leger, Paul Schenker
2004 Autonomous Robots  
This paper describes a control system for a team of three robots that access cliff walls at inclines up to 70 • .  ...  This paper describes the coordination of these three robots so they function as a team to explore the cliff face.  ...  This research was partially performed while Erik Mumm was a visiting researcher in the Planetary Robotics Laboratory of the Jet Propulsion Laboratory, California Institute of Technology, under a contract  ... 
doi:10.1023/b:auro.0000025790.37415.83 fatcat:bpq7vcagm5empl6nspqpb3qusq

Multirobot Formation with Sensor Fusion-Based Localization in Unknown Environment

Anh Vu Le, Koppaka Ganesh Sai Apuroop, Sriniketh Konduri, Huy Do, Mohan Rajesh Elara, Ray Cheng Chern Xi, Raymond Yeong Wei Wen, Minh Bui Vu, Phan Van Duc, Minh Tran
2021 Symmetry  
However, designing a formation strategy for multiple robots which enables the agents to follow the predefined master robot during navigation actions without a prebuilt map is challenging due to the uncertainties  ...  Experiments are conducted on a set of robots called Falcon with a conventional four-wheel skid steering schematic as a case study to validate our proposed path planning technique.  ...  Conflicts of Interest: The authors declare that there is no conflict of interest.  ... 
doi:10.3390/sym13101788 fatcat:37ea6jq52jbkhailgojeaedkfu

Swarm Navigation In A Complex Environment

Jai Raj, Jito Vanualailai, Bibhya Sharma, Shonal Singh
2012 Zenodo  
This paper proposes a solution to the motion planning and control problem of car-like mobile robots which is required to move safely to a designated target in a priori known workspace cluttered with swarm  ...  A generalized algorithm for target convergence and swarm avoidance is proposed that will work for any number of swarms.  ...  of its workspace, propose a path that the robot can follow.  ... 
doi:10.5281/zenodo.1062425 fatcat:2k23ys6dkjfwjphprwjygzzl5y

Motion Planning And Posture Control Of The General 3-Trailer System

K. Raghuwaiya, B. Sharma, J. Vanualailai
2014 Zenodo  
and collision avoidance properties of the general3-trailer system in a priori known environment.  ...  This new combination of techniques emerges as a convenient mechanism for obtaining feasible orientations at the target positions with an overall reduction in the complexity of the navigation laws.  ...  For this, we construct the obstacle avoidance functions that merely measure the distances between each body and the obstacles in the workspace.  ... 
doi:10.5281/zenodo.1091645 fatcat:ujwx7kn62ndfpbbbfygnlvbdym

Real-Time Hybrid Navigation System-Based Path Planning and Obstacle Avoidance for Mobile Robots

Phan Gia Luan, Nguyen Truong Thinh
2020 Applied Sciences  
In this work, we present a complete hybrid navigation system for a two-wheel differential drive mobile robot that includes static-environment- global-path planning and dynamic environment obstacle-avoidance  ...  By the given map, we propose a multi-agent A-heuristic algorithm for finding the optimal obstacle-free path.  ...  A fuzzy controller used to follow the given path and avoid obstacles was introduced in [11] .  ... 
doi:10.3390/app10103355 fatcat:cvu5npvoafhrrnbdf2uqbqd2pe

Autonomous Control Of Multiple Mobile Manipulators

Shonal Singh, Bibhya Sharma, Jito Vanualailai, Avinesh Prasad
2012 Zenodo  
to final configurations in a constrained environment cluttered with stationary solid objects of different shapes and sizes.  ...  This paper considers the autonomous navigation problem of multiple n-link nonholonomic mobile manipulators within an obstacle-ridden environment.  ...  For the avoidance by each articulated body of i A , we design the following obstacle avoidance functions for the avoidance of the left, lower, right and upper boundaries, respectively: , the Lyapunov-based  ... 
doi:10.5281/zenodo.1330208 fatcat:pwhadpadmvgopall6rimbvtg6q

Collision Avoidance of a Kinodynamically Constrained System from Passive Agents

K. M. Zuhaib, J. Iqbal, A. M. Bughio, S. A. S. Bukhari, K. Kanwar
2021 Engineering, Technology & Applied Science Research  
Robot motion planning in dynamic environments is significantly difficult, especially when the future trajectories of dynamic obstacles are only predictable over a short time interval and can change frequently  ...  For this purpose, this paper presents a new approach that maps collision avoidance and kinodynamic constraints on robot motion as geometrical bounds of its control space.  ...  Control Obstacle The geometry of the robot was considered to be its bounding circle, as in [18] . The mobile robot shares its workspace with several passive agents. ‫  ... 
doi:10.48084/etasr.4022 fatcat:56pwxr6wefbonm4wa4wboodr6m

Planning multiple paths with evolutionary speciation

C. Hocaoglu, A.C. Sanderson
2001 IEEE Transactions on Evolutionary Computation  
Generation of multiple alternative paths is an example of multimodal search and, in our previous work, a new approach to multimodal function optimization has been developed using a genetic algorithm (GA  ...  The system can be applied for planning paths for mobile robots, assembly, and articulated manipulators.  ...  Computing resources of the Electronics Agile Manufacturing Research Institute (EAMRI) at Rensselaer and the State University of New York, Stony Brook, have also been used during this research in addition  ... 
doi:10.1109/4235.930309 fatcat:wkb65fdszrgw3fosbclrhakn6m

A randomized hybrid system approach to coordinated robotic sensor planning

Wenjie Lu, Guoxian Zhang, Silvia Ferrari
2010 49th IEEE Conference on Decision and Control (CDC)  
This paper proposed a randomized hybrid system approach for planning the paths and measurements of a network of robotic sensors deployed for searching and classifying objects in a partially-observed environment  ...  containing multiple obstacles and multiple targets.  ...  CONCLUSIONS A hybrid system is proposed for a network of robotic sensors in searching and measuring targets in a partial observed environment containing multiple obstacles and multiple targets.  ... 
doi:10.1109/cdc.2010.5717351 dblp:conf/cdc/LuZF10 fatcat:ooud3bbhyvesvnnusyt5ifmgpe

Guest editorial: Special issue on distributed robotics—from fundamentals to applications

Roderich Groß, Andreas Kolling, Spring Berman, Alcherio Martinoli, Emilio Frazzoli, Fumitoshi Matsuno
2018 Autonomous Robots  
for unmapped static and dynamic obstacles and can be applied in workspaces shared by humans and robots.  ...  Multi robot collision avoidance in a shared workspace (Claes and Tuyls) This paper presents a decentralized navigation algorithm, based on the velocity obstacles paradigm, that implements collision avoidance  ... 
doi:10.1007/s10514-018-9803-9 fatcat:7qovvvqmsbe7zez4kbujzmfs5e

Reinforcement learning-based Energy-Aware Area Coverage for Reconfigurable hRombo Tiling Robot

Anh Vu Le, Rizuwana Parween, Phone Thiha Kyaw, Rajesh Elara Mohan, Tran Hoang Quang Minh, Charan Satya Chandra Sairam Borusu
2020 IEEE Access  
Robot avoids the obstacles during the navigation.  ...  In the tiling robot cases, the complete coverage while avoiding the obstacle needs to be considered.  ... 
doi:10.1109/access.2020.3038905 fatcat:t5wrvgiy5jgsjdjh554qoxxpti

Motion planning and posture control of multiple n-link doubly nonholonomic manipulators

Bibhya Sharma, Jito Vanualailai, Shonal Singh
2015 Robotica (Cambridge. Print)  
SUMMARYThe paper considers the problem of motion planning and posture control of multiplen-link doubly nonholonomic mobile manipulators in an obstacle-cluttered and bounded workspace.  ...  The workspace is constrained with the existence of an arbitrary number of fixed obstacles (disks, rods and curves), artificial obstacles and moving obstacles.  ...  Acknowledgment The authors would like to thank the referees and Professor Jun-Hong Ha, of Korea University of Technology and Education, for their comments which have led to an improvement in content and  ... 
doi:10.1017/s0263574714002604 fatcat:mampvyvovzbvtmubq2adpvpyfm

Object Conveyance Algorithm for Multiple Mobile Robots based on Object Shape and Size

Purnomo Sejati, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara, Takashi Yasuno
2016 International Journal of Advanced Computer Science and Applications  
This paper describes a determination method of a number of a team for multiple mobile robot object conveyance.  ...  As a result, the proposed algorithm is promising for minimizing the number of the robot on multiple mobile robot object conveyance. with predefined rules for engaging a task.  ...  Simulation platform consists of an obstacle free workspace, an object, a set of sub-goals, and five mobile robots. The workspace size is 500x600 pixels of y and x axis.  ... 
doi:10.14569/ijacsa.2016.070573 fatcat:iwvcuu7cvvakxjbr6mtemefgvi
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