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Multi-scale assembly with robot teams

Mehmet Dogar, Ross A. Knepper, Andrew Spielberg, Changhyun Choi, Henrik I. Christensen, Daniela Rus
2015 The international journal of robotics research  
In this paper we present algorithms and experiments for multi-scale assembly of complex structures by multi-robot teams.  ...  We develop a hierarchical planning approach to multi-scale perception in support of multi-scale manipulation, in which the resolution of the perception operation is matched with the required resolution  ...  These operations require fine perception and control with much tighter tolerances. In this paper we present a multi-scale perception and manipulation framework for multi-robot assembly tasks.  ... 
doi:10.1177/0278364915586606 fatcat:gyzivsfd7zdk7efj5pdfn75zpa

Multiple Mobile Robot Systems [chapter]

Lynne E. Parker
2008 Springer Handbook of Robotics  
Hybrid control architectures combine local control with higher-level control approaches to achieve both robustness and the ability to influence the entire team's actions through global goals, plans, or  ...  These approaches aim to achieve a desired team-level global behavior from the interaction dynamics of individual robots following relatively simple local control laws.  ... 
doi:10.1007/978-3-540-30301-5_41 fatcat:v3yo5joepja2lketepmahupkfm

Increasing Flexibility of Mobile Manipulation and Intuitive Human-Robot Interaction in RoboCup@Home [chapter]

Jörg Stückler, David Droeschel, Kathrin Gräve, Dirk Holz, Michael Schreiber, Angeliki Topalidou-Kyniazopoulou, Max Schwarz, Sven Behnke
2014 Lecture Notes in Computer Science  
We designed a multi-purpose gripper for grasping typical household objects in pick-and-place tasks and also for using tools.  ...  In this paper, we describe system and approaches of our team NimbRo@Home that won the RoboCup@Home competition 2013.  ...  Acknowledgments We thank our student team members Marcel Brandt, Rainer Duppre, and Johann Heinrichs for their support.  ... 
doi:10.1007/978-3-662-44468-9_13 fatcat:6z7klcajk5dbpfzqwd6v5xmn64

Integrating indoor mobility, object manipulation, and intuitive interaction for domestic service tasks

Jorg Stuckler, Sven Behnke
2009 2009 9th IEEE-RAS International Conference on Humanoid Robots  
With Dynamaid and our communication robot Robotinho, our team Nimbro@Home took part in the RoboCup German Open 2009 and RoboCup 2009 competitions in which we came in second and third, respectively.  ...  Domestic service tasks require three main skills from autonomous robots: robust navigation, mobile manipulation, and intuitive communication with the users.  ...  Modules on the subtask layer coordinate sensorimotor skills, reactive action, and environment perception to achieve higher-level actions like mobile manipulation, navigation, and human-robot-interaction  ... 
doi:10.1109/ichr.2009.5379529 dblp:conf/humanoids/StucklerB09 fatcat:d4b44ke5b5a3rmfvg24irq2duy

Dynamaid, an Anthropomorphic Robot for Research on Domestic Service Applications

Jörg Stückler, Sven Behnke
2011 Automatika  
With Dynamaid and our communication robot Robotinho, our team Nimbro@Home took part in the RoboCup German Open 2009 and RoboCup 2009 competitions in which we came in second and third, respectively.  ...  Original scientific paper Domestic tasks require three main skills from autonomous robots: robust navigation, object manipulation, and intuitive communication with the users.  ...  Modules on the subtask layer coordinate sensorimotor skills, reactive action, and environment perception to achieve higher-level actions like mobile manipulation, navigation, and human-robot-interaction  ... 
doi:10.1080/00051144.2011.11828422 fatcat:pilmjzo525eftaofualf6zsdui

Nanorobotics Control Design: A Collective Behavior Approach for Medicine

A. Cavalcanti, R.A. Freitas
2005 IEEE Transactions on Nanobioscience  
This collective behavior is a suitable way to perform a large range of tasks and positional assembly manipulation in a complex 3D workspace.  ...  As a practical approach to validate the proposed design, we have elaborated and simulated a virtual environment focused on control automation for nanorobotics teams that exhibit collective behavior.  ...  Thus a careful decomposition of the main problem task into subtasks with action based on local sensor-based perception could generate multi-robot coherent behaviors [33] .  ... 
doi:10.1109/tnb.2005.850469 pmid:16117021 fatcat:ftijcmf66jchvcalzjmw4lubf4

Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems [article]

Amanda Prorok, Matthew Malencia, Luca Carlone, Gaurav S. Sukhatme, Brian M. Sadler, Vijay Kumar
2021 arXiv   pre-print
We address these questions across foundational robotics domains, spanning perception, control, planning, and learning.  ...  In this survey article, we analyze how resilience is achieved in networks of agents and multi-robot systems that are able to overcome adversity by leveraging system-wide complementarity, diversity, and  ...  Control Multi-robot control strategies facilitate the organization of multiple robots to solve team-level, global tasks using local interaction rules.  ... 
arXiv:2109.12343v1 fatcat:vxt62eluljfelcifzdlosv34cq

An Overview of Cooperative Robotics in Agriculture

Chris Lytridis, Vassilis G. Kaburlasos, Theodore Pachidis, Michalis Manios, Eleni Vrochidou, Theofanis Kalampokas, Stamatis Chatzistamatis
2021 Agronomy  
On the other hand, the use of cooperative teams of agricultural robots in farming tasks is not as widespread; yet, it is an emerging trend.  ...  This paper presents a comprehensive overview of the work carried out so far in the area of cooperative agricultural robotics and identifies the state-of-the-art.  ...  The work presented in [60] demon-strated a system architecture where a centralized controller (OptiVisor) coordinated and supervised the motion of a team of low-level intelligence robot team in a field  ... 
doi:10.3390/agronomy11091818 fatcat:uyv3nraeofe6tk57ko4xzfgjei

Autonomous and Intelligent Mobile Systems based on Multi-Agent Systems [chapter]

Hicham, Adil Sayouti
2011 Multi-Agent Systems - Modeling, Control, Programming, Simulations and Applications  
The research team has considered the supervisory control which aims to give robot the command at a higher level.  ...  Multi-agent systems for autonomous control The organization of a system -or its control architecture -determines its capacities to achieve autonomous tasks and to react to events (Novales & al., 2006)  ... 
doi:10.5772/15230 fatcat:cl7vi6oaobg6dibrol5ajgi42e

Cooperation without deliberation: A minimal behavior-based approach to multi-robot teams

Barry Brian Werger
1999 Artificial Intelligence  
We claim that a strict behavior-based approach can scale to higher levels of complexity than many robotics researchers assume, and that the resulting systems are in many cases more efficient and robust  ...  We believe that control software has not yet come close to fully exploiting the power of even the simplest of mobile robots, and that the proper direction to investigate for great increases in robot capability  ...  In [3, 16, 24, 27, 33] , general discussions of the tradeoffs between local and global control in multi-robot systems are presented.  ... 
doi:10.1016/s0004-3702(99)00023-5 fatcat:pixzarkv3ng7tlb5tzj7q4klle

Towards cooperation of heterogeneous, autonomous robots: A case study of humanoid and wheeled robots

Jutta Kiener, Oskar von Stryk
2010 Robotics and Autonomous Systems  
By combining strongly heterogeneous robots the diversity of achievable tasks increases as the variety of sensing and motion abilities of the robot system is extended compared to a usually considered team  ...  In this paper a case study of cooperation of a strongly heterogeneous autonomous robot team, composed of a highly articulated humanoid robot and a wheeled robot with largely complementing and some redundant  ...  If the robot team consists of mainly complementary robot abilities then quite diverse tasks can be achieved in principle, but reliability in case of failure of one robot's abilities is low.  ... 
doi:10.1016/j.robot.2010.03.013 fatcat:hmvieeovunajhjs2zlljwbrb5u

A Generic Multi-Layer Architecture Based on ROS-JADE Integration for Autonomous Transport Vehicles

Jon Martin, Oskar Casquero, Brais Fortes, Marga Marcos
2018 Sensors  
as machines, transport systems and other equipment present in the factory) to achieve manufacturing reconfiguration.  ...  Nowadays, robotic frameworks (RFs) are used for developing robotic systems such as ATVs, but they focus on the control of the robotic system itself.  ...  combined with an IMU and a laser/camera/funk based localization system; perception components to detect obstacles or other desired features in the environment; a manipulation system such as an arm or  ... 
doi:10.3390/s19010069 fatcat:ierj2oms4fczpfspbxq27anjt4

Multiple Mobile Robot Systems [chapter]

Lynne E. Parker, Daniela Rus, Gaurav S. Sukhatme
2016 Springer Handbook of Robotics  
Hybrid control architectures combine local control with higher-level control approaches to achieve both robustness and the ability to influence the entire team's actions through global goals, plans, or  ...  However, when grouped with other similar robots, they are collectively able to achieve team-level tasks.  ... 
doi:10.1007/978-3-319-32552-1_53 fatcat:rijl5w2zuvfyhjyx3drntjwvam

A Framework for Information Distribution, Task Execution and Decision Making in Multi-Robot Systems

Matthias RAMBOW, Florian ROHRMÜLLER, Omiros KOURAKOS, Drazen BRŠCIC, Dirk WOLLHERR, Sandra HIRCHE, Martin BUSS
2010 IEICE transactions on information and systems  
In this paper a complete and modular framework that can handle this complexity in multi-robot systems is presented.  ...  It provides efficient exchange of generated data as well as a generic scheme for task execution and robot coordination.  ...  Special thanks to the entire MuRoLa team for their support and also to Dr. K. Kühnlenz and S. Sosnowski for the provision of EDDIE.  ... 
doi:10.1587/transinf.e93.d.1352 fatcat:3gj34miyzzgmrbz5pn35rtvu44

Model-based autonomous system for performing dexterous, human-level manipulation tasks

Nicolas Hudson, Jeremy Ma, Paul Hebert, Abhinandan Jain, Max Bajracharya, Thomas Allen, Rangoli Sharan, Matanya Horowitz, Calvin Kuo, Thomas Howard, Larry Matthies, Paul Backes (+1 others)
2013 Autonomous Robots  
Performing human-level manipulation tasks is achieved through a novel combination of perception in uncertain environments, precise tool use, forceful dualarm planning and control, persistent environmental  ...  tracking, and task level verification.  ...  Through novel model-based perception and estimation, efficient planning and reactive control, the system can perform robustly in semi-structured and uncertain environments.  ... 
doi:10.1007/s10514-013-9371-y fatcat:zwlbjvof5vb2fksz4jzlzvik24
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