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Improving Robustness of Mobile Robots Using Model-based Reasoning

Michael Hofbaur, Johannes Köb, Gerald Steinbauer, Franz Wotawa
2006 Journal of Intelligent and Robotic Systems  
The described system is based on a generalized model of the motion hardware. The novelty of the framework is that the same hardware model is used for diagnosis and re-configuration.  ...  Retaining functionality of a mobile robot in the presence of faults is of particular interest in autonomous robotics.  ...  Framework In order to improve the robustness of mobile robots and to meet the above stated requirements we propose a generalized framework for fault-tolerant motion control.  ... 
doi:10.1007/s10846-006-9102-0 fatcat:fjymurxy2ze6lccbf2brfomiw4

Special issue on machine learning for robotics

Wei Wei, Jinsong Wu, Chunsheng Zhu
2020 Journal of Ambient Intelligence and Humanized Computing  
The robustness and rapidity of robots are improved, and good control accuracy and control effects are achieved.  ...  Results show that it is appropriate to identify the kinematics model and control the motion of the robot based on fast learning neural network.  ...  The simulation results show that the trajectory tracking ability, anti-disturbance ability and robustness of the mobile robot are improved.  ... 
doi:10.1007/s12652-020-02567-x fatcat:bnebxk5sobfyvcnuv6amklm2e4

Real-Time Implementation of Continuous Model Based Sliding Mode Control Technique for Trajectory Tracking Control of Mobile Robot

Ahmet Dumlu, Mehmet Rasim Yıldırım
2018 Balkan Journal of Electrical and Computer Engineering  
Two control techniques such as the proportionalintegral-derivative (PID) control and model based sliding mode control (SMC) have been considered to increase the tracking performance of the mobile robot  ...  In this study, real-time trajectory tracking control of an autonomous mobile robot has been designed, analyzed and studied.  ...  Section II presents system description of the mobile robot. The model based SMC method for the mobile robot has shown in section III.  ... 
doi:10.17694/bajece.459568 fatcat:uhiourwdanadffz52vvsdn63ce

From SLAM to Situational Awareness: Challenges and Survey [article]

Hriday Bavle, Jose Luis Sanchez-Lopez, Eduardo F. Schmidt, Holger Voos
2021 arXiv   pre-print
The knowledge that an intelligent and autonomous mobile robot has and is able to acquire of itself and the environment, namely the situation, limits its reasoning, decision-making, and execution skills  ...  In our research, we connected the broad multidisciplinary existing knowledge on situational awareness with its counterpart in mobile robotics.  ...  The utilization of SDF-based models in robotics is not new.  ... 
arXiv:2110.00273v2 fatcat:kiimumlvnnhfjkgiegvf66m6ji

An automatic switching approach of robotic components for improving robot localization reliability in complicated environment

Wenshan Wang, Qixin Cao, Xiaoxiao Zhu, Masaru Adachi
2014 Industrial robot  
The purpose of this paper is to present a novel approach that focuses on improving the localization robustness in complicated environment.  ...  The robustness is further enhanced through the cooperation of heterogeneous localization components.  ...  It is clear that the collaboration of multi-robotic components significantly improves the robustness and reliability.  ... 
doi:10.1108/ir-04-2013-338 fatcat:xmvry2ty3relvgftwasfcckmey

Robotic intelligence with behavior selection network for Bayesian network ensemble

Keum-Sung Hwang, Han-Saem Park, Sung-Bae Cho
2009 2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space  
An experiment with a mobile robot simulation presents how the proposed ensemble method works and can be used effectively.  ...  Since visual information is uncertain due to several reasons, we need a novel method that has robustness to the uncertainty.  ...  Recently, the research using contextual information with geometric models has advanced to improve the efficiency of object recognition.  ... 
doi:10.1109/riiss.2009.4937920 dblp:conf/riiss/HwangPC09 fatcat:oszbpvg6vrgt5cjwa3m3wzokfq

Trajectory Tracking of Wheeled Mobile Robots using Z-number Based Fuzzy Logic

Mohamed Abdelwahab, Victor Parque, Ahmed M. R. Fath Elbab, A. A. Abouelsoud, Shigeki Sugano
2020 IEEE Access  
In this paper, we present the Z-number based Fuzzy Logic control for trajectory tracking of differential wheeled mobile robots.  ...  Being trajectory tracking key for safe mobile robot navigation, Fuzzy Logic (FL) has been useful in tackling uncertainty and imprecision to realize robust and smooth trajectory tracking.  ...  The model in V-REP is based on a physics-based Pioneer 3DX mobile robot, which is a differential mobile robot with two frontal driver wheels, a rear caster wheel (driven) and 16 ultrasonic sensors.  ... 
doi:10.1109/access.2020.2968421 fatcat:qfgge5xpb5dunnryudp6celg3y

Wide-angle camera distortions and non-uniform illumination in mobile robot tracking

Gregor Klančar, Matej Kristan, Rihard Karba
2004 Robotics and Autonomous Systems  
The illumination compensation improves robustness to irregular and non-uniform illumination that is nearly always present in real conditions.  ...  In this paper some fundamentals and solutions to accompanying problems in vision system design for mobile robot tracking are presented.  ...  Non-uniform illumination caused by irregular illumination is the main reason for the bad tracking or even loss of position estimation of mobile robots.  ... 
doi:10.1016/j.robot.2003.11.001 fatcat:i6qjivpftnfovprrmglmj5j2cq

Visual Tracking Control of a Wheeled Mobile Robot With System Model and Velocity Quantization Robustness

Chi-Yi Tsai, Kai-Tai Song
2009 IEEE Transactions on Control Systems Technology  
This paper presents a visual tracking control design of a nonholonomic mobile robot equipped with a tilt camera.  ...  Based on Lyapunov theory, the proposed control scheme not only possesses some degree of robustness against parametric uncertainty, but also overcomes the external uncertainty caused by velocity quantization  ...  Later, larger control gains were used in order to increase the robustness and improve the tracking performance of the closed-loop visual tracking system.  ... 
doi:10.1109/tcst.2008.2001053 fatcat:7eac2a5tgrcf3fxhkbe4tqizqa

Improved Resilience Controllers Using Cognitive Patterns

Ricardo Sanz, Carlos Hernandez, Julita Bermejo, Manuel Rodriguez, Ignacio Lopez
2014 IFAC Proceedings Volumes  
and robust control architectures for autonomous robots.  ...  A reference architecture for self-aware autonomous systems is synthesised from these patterns and demonstrated in the control of an autonomous mobile robot.  ...  This paper describes the construction and use of three patternsassets in the Asset Base-and their use in the improvement of a robot controller.  ... 
doi:10.3182/20140824-6-za-1003.02433 fatcat:ywjjkx5bzfbz5per62d5eakpk4

A New Landmark Detection Approach for Slam Algorithm Applied in Mobile Robot

Xuan-Ha Nguyen, Van-Huy Nguyen, Thanh-Tung Ngo
2020 November 2020  
Based on this approach, we exploit a deep neural network for processing images from a stereo camera system installed on mobile robots.  ...  In this work, we introduce a new landmark detection approach using vision-based data.  ...  Acknowledgements This research is funded by Hanoi University of Science and Technology (HUST) under project number TC2018-PC-022.  ... 
doi:10.51316/30.7.6 fatcat:ia7iiuj22vdl3pxnceptwzyhmy

Improved Genetic Algorithm Lyapunov-Based Controller for Mobile Robot Tracking a Moving Target

Karim Benbouabdallah, Zhu Qi-Dan
2013 Research Journal of Applied Sciences Engineering and Technology  
Target tracking is taken account as one of the most important topics in mobile robotics. This study addresses the problem of controlling of non-holonomic mobile robot to track a moving target.  ...  The proposed controller computes both the robot linear and angular velocities to regulate the position and orientation of the robot according to the moving target position.  ...  The reason is that mobile robots have found a huge range of promising application in the industrial and service fields.  ... 
doi:10.19026/rjaset.5.4471 fatcat:pkxi3kcrubhflnxz47gajo5unq

An Improved Particle Filter for Service Robot Self-Localization

Guanghui CEN, Nobuto MATSUHIRA, Junko HIROKAWA, Hideki OGAWA, Ichiro HAGIWARA
2009 SICE Journal of Control Measurement and System Integration  
Mobile robot localization is a problem of determining a robot's pose in an environment, which is also one of the most basic problems in mobile robot applications.  ...  Moreover, the posterior distribution of a robot pose in global localization is usually a multi-model due to the symmetry of the environment and ambiguous detected features.  ...  Acknowledgment This work was supported by Super Machano-System 21st century COE Tokyo Tech, Grant-in-Aid for Scientific Research (S)(No.20226006) of MEXT, Japan, and Corporate R&D Center, Toshiba Corporation  ... 
doi:10.9746/jcmsi.2.56 fatcat:umu4acipezc3lmwwvbawfx66ki

Motion planning for mobile Robots–focusing on deep reinforcement learning: A systematic Review

Huihui Sun, Weijie Zhang, Runxiang YU, Yujie Zhang
2021 IEEE Access  
Mobile robots contributed significantly to the intelligent development of human society, and the motion-planning policy is critical for mobile robots.  ...  According to the surveys, the potential research directions of motion-planning algorithms serving for mobile robots are enlightened.  ...  . 5)SAC In order to improve the exploratory and robust of mobile robots motion planning, Tuomas et al  ... 
doi:10.1109/access.2021.3076530 fatcat:53kdh5cfgvcang5xymf4vrqx2e

Adaptive Super-Twisting Sliding Mode Control for Mobile Robots Based on High-Gain Observers

Haitao Liu, Jianhao Nie, Jian Sun, Xuehong Tian
2020 Journal of Control Science and Engineering  
In this paper, a robust adaptive output feedback control strategy based on a sliding mode super-twisting algorithm is designed for the trajectory tracking control of a wheeled mobile robot.  ...  Second, a double-power sliding mode surface is designed to improve the response speed of the robot system. Finally, a high-gain observer is employed to estimate the speed information.  ...  It is also noteworthy that, in the study of mobile robot control strategies, most of the literature is based on three-wheel mobile robots.  ... 
doi:10.1155/2020/4048507 fatcat:6dyb4z4ld5hz3aw6e6mtoqcamu
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