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Multirobot rendezvous with bearing-only or range-only measurements

Ronghao Zheng, Dong Sun
2014 Robotics and Biomimetics  
We investigate control strategies which use just bearing-only or range-only measurements and do not need inter-robot radio communication to share the measurements.  ...  This paper studies distributed rendezvous strategies for multiple nonholonomic wheeled mobile robots with the aim of testing their practicality on real robots.  ...  Acknowledgements The work of RZ is supported through the Hong Kong PhD Fellowship Scheme.  ... 
doi:10.1186/s40638-014-0004-5 fatcat:vpqiwibkljgj3dldr42vkpyoo4

Bayesian rendezvous for distributed robotic systems

S. Gowal, A. Martinoli
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In this paper, we state, using thorough mathematical analysis, sufficient conditions to perform a rendezvous maneuver with a group of differential-wheeled robots endowed with an on-board, noisy, local  ...  In particular, we extend the existing framework of noise-free, graph-based distributed control with a layer of Bayesian reasoning allowing to solve the rendezvous problem more efficiently in presence of  ...  N i containing all robots R j such that it can measure the range e ij and bearing α ij to them.  ... 
doi:10.1109/iros.2011.6048652 fatcat:xt2h2ve5ijc3zhh4v2vmzthqj4

Bayesian rendezvous for distributed robotic systems

Sven Gowal, Alcherio Martinoli
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In this paper, we state, using thorough mathematical analysis, sufficient conditions to perform a rendezvous maneuver with a group of differential-wheeled robots endowed with an on-board, noisy, local  ...  In particular, we extend the existing framework of noise-free, graph-based distributed control with a layer of Bayesian reasoning allowing to solve the rendezvous problem more efficiently in presence of  ...  N i containing all robots R j such that it can measure the range e ij and bearing α ij to them.  ... 
doi:10.1109/iros.2011.6094976 dblp:conf/iros/GowalM11 fatcat:lo4zcvczcjgqxjbyqg45i6z3si

Real-Time Optimized Rendezvous on Nonholonomic Resource-Constrained Robots [chapter]

Sven Gowal, Alcherio Martinoli
2013 Springer Tracts in Advanced Robotics  
In this work, we consider a group of differential-wheeled robots endowed with noisy relative positioning capabilities.  ...  To validate both methods and test their robustness to computational delays, we perform exhaustive experiments on a team of four real mobile robots equipped with relative positioning hardware.  ...  A robot R i has a set of neighbors N i containing all robots R j such that it can measure the range e i j and bearing α i j to them.  ... 
doi:10.1007/978-3-319-00065-7_25 fatcat:7dajdclwb5ek3omdvpgeczuioa

Advanced Predictive Guidance Navigation for Mobile Robots:A Novel Strategy for Rendezvous in Dynamic Settings

Faraz Kunwar, Beno Benhabib
2008 International Journal on Smart Sensing and Intelligent Systems  
This paper presents a novel on-line trajectory planning method for the autonomous robotic interception of moving targets in the presence of dynamic obstacles, i.e., position and velocity matching (also  ...  referred to as rendezvous).  ...  ACKNOWLEDGMENTS We acknowledge the support of the Natural Sciences and Engineering Research Council of Canada (NSERC).  ... 
doi:10.21307/ijssis-2017-325 fatcat:livgcb7ezjbsvbyhadukay4czq

CALlNCA: A Compact Autonomous Linkable Intelligent Carrier

Wolfgang Stubenvoll
1998 IFAC Proceedings Volumes  
CALINCA-vehicles are autonomous wheeled mobile transport platforms for indoor environments intended to execute not only logistic tasks but also manufacturing processes on the transport platform itself.  ...  payload weight or payload area.  ...  The shape and the size of the wheel suspension units and the wheel bearings or the driving gear boxes remains the same.  ... 
doi:10.1016/s1474-6670(17)44138-3 fatcat:tyntukpxvzdljp2nlcxyas7qzi

Guidance-Based On-Line Robot Motion Planning for the Interception of Mobile Targets in Dynamic Environments

F. Kunwar, F. Wong, R. Ben Mrad, B. Benhabib
2006 Journal of Intelligent and Robotic Systems  
The proposed method provides simultaneous positional interception and velocity matching of the target moving in a dynamic environment with static and/or mobile obstacles.  ...  An acceleration command for the autonomous robot (i.e., interceptor) is first obtained from a rendezvous-guidance technique that takes into account the kinematic and dynamic limitations of the interceptor  ...  Acknowledgement We acknowledge the support of the Natural Sciences and Engineering Research Council of Canada (NSERC).  ... 
doi:10.1007/s10846-006-9080-2 fatcat:dacs6bkwmfchhhfeujp4323j44

Odometry and calibration methods for multi-castor vehicles

James Doebbler, Jeremy J. Davis, John L. Junkins, John Valasek
2008 2008 IEEE International Conference on Robotics and Automation  
Encoders measure the rotations of the six wheels and the three castor pivots.  ...  We are developing a mobile robot capable of emulating general 6-degree-of-freedom spacecraft relative motion.  ...  Of particular interest is the OmniMate Mobile Robot -an omni-directional platform that uses two powered split castors with additional free castors for stability.  ... 
doi:10.1109/robot.2008.4543518 dblp:conf/icra/DoebblerDJV08 fatcat:achll4yuyjabdcva6pwxkrmy6q

Toolbox Release: A WiFi-Based Relative Bearing Sensor for Robotics [article]

Ninad Jadhav, Weiying Wang, Diana Zhang, Swarun Kumar, Stephanie Gil
2021 arXiv   pre-print
It enables robots in a team to obtain relative bearing to each other, even in non-line-of-sight (NLOS) settings which is a very challenging problem in robotics.  ...  It is motivated by the lack of easily deployable solutions that use robots' local resources (e.g WiFi) for sensing in NLOS.  ...  Other applications that exploit the measuring of all signal paths include rendezvous (Fig. 9 ), ad-hoc mobile networks [14] , [42] , and security and resilience in robot teams where the full AOA profile  ... 
arXiv:2109.12205v2 fatcat:tdpxv3bdf5aafc5ei7sbegbmia

Navigation Function Based Decentralized Control of A Multi-Agent System with Network Connectivity Constraints [article]

Zhen Kan, John M. Shea, Warren E. Dixon
2014 arXiv   pre-print
A wide range of applications require or can benefit from collaborative behavior of a group of agents.  ...  for a system of autonomous agents, which ensures global convergence to the unique minimum of the potential field (i.e., desired formation or desired destination) while preserving network connectivity.  ...  The main objectives are to derive a set of distributed controllers using only local information (i.e., the position feedback from other robots within a sensing area) to lead the robots to rendezvous at  ... 
arXiv:1402.5951v1 fatcat:acsynisgmjc7va6kybuagj2uwq

Safe, Remote-Access Swarm Robotics Research on the Robotarium [article]

Daniel Pickem, Li Wang, Paul Glotfelter, Yancy Diaz-Mercado, Mark Mote, Aaron Ames, Eric Feron, Magnus Egerstedt
2016 arXiv   pre-print
This paper describes the development of the Robotarium -- a remotely accessible, multi-robot research facility.  ...  These resource constraints, in turn, limit access for large groups of researchers and students, which is what the Robotarium is remedying by providing users with remote access to a state-of-the-art multi-robot  ...  Rendezvous The rendezvous problem (or consensus) is a canonical example in networked control theory with applications ranging from sensor fusion to swarm robotics.  ... 
arXiv:1604.00640v1 fatcat:pesicij7hrg6jpt27426obujlu

Cyclic pursuit with vision-assisted estimation

Lili Ma, N Hovakimyan
2010 Proceedings of the 2010 American Control Conference  
A fast estimator is utilized for estimation of the other agent's unknown time-varying velocity. The effectiveness of the proposed technique is demonstrated by numerical simulation examples.  ...  Among these, the cyclic pursuit strategies, where each agent (or robot) pursues only one other vehicle with the network topology forming a unidirectional ring, are particularly simple in that the n robots  ...  For the estimation task, the available information and measurements are listed below: 1) The size L of the agents. 2) The bearing angle β i (t) and the subtended angle α i (t), as shown in Fig. 2 .  ... 
doi:10.1109/acc.2010.5531000 fatcat:bw7fqzfembbfdbragm3zm2254e

Modeling, Control and Simulation of a Novel Mobile Robotic System [chapter]

Xiaoli Bai, Jeremy Davis, James Doebbler, James D. Turner, John L. Junkins
2009 Lecture Notes in Electrical Engineering  
We are developing an autonomous mobile robotic system to emulate six degree of freedom relative spacecraft motion during proximity operations.  ...  A mobile omni-directional base robot provides x, y, and yaw planar motion with moderate accuracy through six independently driven motors.  ...  of the nonholonomic kinematic controller with the dynamics of the mobile robot [6] .  ... 
doi:10.1007/978-1-4020-8919-0_31 fatcat:3tsfn22myfdslh4mpygxvgziea

Spatial Coverage Without Computation

Anil Ozdemir, Melvin Gauci, Andreas Kolling, Matthew D. Hall, Roderich Gros
2019 2019 International Conference on Robotics and Automation (ICRA)  
The solution requires only a single bit of information per robot-whether or not another robot is present in its line of sight.  ...  We study the problem of controlling a swarm of anonymous, mobile robots to cooperatively cover an unknown two-dimensional space.  ...  [7] proposed a solution to the coverage problem that relies on only touch and bearing sensors.  ... 
doi:10.1109/icra.2019.8793731 dblp:conf/icra/OzdemirGKHG19 fatcat:7jqv4pzacbd2jlpmtnzmlewdrm

A Survey on Techniques in the Circular Formation of Multi-Agent Systems

Hamida Litimein, Zhen-You Huang, Ameer Hamza
2021 Electronics  
A review of bearing, range, and received signal strength measurements with respect to circular formation control is presented.  ...  Algebraic graph theory is used as a building block in problem definition, problem formulation, and solutions.  ...  CFP by using bearing-only measurements is studied in [45, 47, 104] .  ... 
doi:10.3390/electronics10232959 fatcat:naxe6o6sovglrpoznsglkcjdwi
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