Autonomous underwater robots with distributed behavior control architecture

2002 ◽  
Author(s):  
T. Fujii ◽  
T. Ura
Keyword(s):  
Control Architecture ◽  
Behavior Control ◽  
Underwater Robots ◽  
Distributed Behavior

A MODULAR ARCHITECTURE FOR HUMANOID SOCCER ROBOTS WITH DISTRIBUTED BEHAVIOR CONTROL

2008 ◽  
Vol 05 (03) ◽  
pp. 397-416 ◽  
Author(s):  
CARLOS ANTONIO ACOSTA-CALDERON ◽  
RAJESH ELARA MOHAN ◽  
CHANGJIU ZHOU ◽  
LINGYUN HU ◽  
PIK KONG YUE ◽  
...  
Keyword(s):  
Control Architecture ◽  
Behavior Control ◽  
Modular Architecture ◽  
Embedded Control ◽  
Control Schemes ◽  
Control Centre ◽  
Embedded Controller ◽  
Advanced Robotics ◽  
Distributed Behavior ◽  
And Control

This paper presents an embedded control architecture constructed for Robo-Erectus, a soccer-playing humanoid robot developed at the Advanced Robotics and Intelligent Control Centre of Singapore Polytechnic. The Robo-Erectus team has participated in the KidSize category of RoboCup's Humanoid League since 2002, collecting different awards. The latest version of Robo-Erectus has many capabilities that can be exploited to improve the robot's behavior. The new embedded controller has made possible the first stage of the performance (displayed during RoboCup 2007), including network communication, mapping, and localization. The new mechanical, electronic design, embedded control architecture, and control schemes are described in this paper. In addition to the hardware, the paper presents details of the modules for gait generation, vision, behavior control, and communication.

Mobile robot society for distributed operations in closed aquatic environment

Robotica ◽  
2000 ◽  
Vol 18 (3) ◽  
pp. 235-250 ◽  
Author(s):  
M. Vainio ◽  
P. Appelqvist ◽  
A. Halme
Keyword(s):  
Control Architecture ◽  
Common Goal ◽  
Underwater Robots ◽  
Test Environment ◽  
Multirobot System ◽  
Cooperative Society ◽  
Living Biomass ◽  
Algae Growth ◽  
Robot Society ◽  
And Control

In this paper a multirobot system consisting of small size ball-shaped mobile underwater robots is introduced. Robots form a cooperative society operating together for a common goal. This is made possible by inter-member communication and control architecture allowing cooperation. The test environment is a closed aquatic process containing tanks, pipes, and a jet pump. The task considered is cleaning of biologically contaminated spots in the process. Detailed hardware structure of a robot-member as well as the control architecture are introduced. Behaviour of the cooperative system is demonstrated in a test environment where contamination caused by biological algae growth is emulated by infrared panels behaving like a living biomass.

scholarly journals A Hierarchical Control Architecture for the Control of Underwater Robots

1995 ◽  
Vol 28 (2) ◽  
pp. 60-65
Author(s):  
G. Bartolini ◽  
G. Cannata ◽  
G. Casalino ◽  
A. Ferrara
Keyword(s):  
Hierarchical Control ◽  
Control Architecture ◽  
Underwater Robots ◽  
Hierarchical Control Architecture

scholarly journals A PROPOSAL FOR A MULTI-DRIVE HETEROGENEOUS MODULAR PIPE-INSPECTION MICRO-ROBOT

2008 ◽  
Vol 05 (02) ◽  
pp. 111-126 ◽  
Author(s):  
ALBERTO BRUNETE ◽  
JOSE EMILIO TORRES ◽  
MIGUEL HERNANDO ◽  
ERNESTO GAMBAO
Keyword(s):  
Degrees Of Freedom ◽  
Visual Inspection ◽  
Modular Approach ◽  
Simulation Environment ◽  
Pipe Inspection ◽  
Behavior Control ◽  
Control Scheme ◽  
Micro Robot ◽  
Different Types ◽  
Distributed Behavior

This paper presents the architecture used to develop a micro-robot for narrow pipes inspection. Both the electromechanical design and the control scheme will be described. In pipe environments it is very useful to have a method to retrieve information of the state of the inner part of the pipes in order to detect damages, leaks and holes. Due to the different types of existing pipes, a modular approach with different types of modules has been chosen in order to be able to adapt to the shape of the pipe and to chose the most appropriate gait. The micro-robot has been designed for narrow pipes, a field in which there are not many prototypes. The micro-robot incorporates a camera module for visual inspection and several drive modules for locomotion and turn (helicoidal, inchworm, two degrees of freedom rotation). The control scheme is based on semi-distributed behavior control and is also described. A simulation environment is also presented for prototype testing.

An Activation-Based Behavior Control Architecture for Walking Machines

2003 ◽  
Vol 22 (3-4) ◽  
pp. 203-211 ◽  
Author(s):  
Jan Albiez ◽  
Tobias Luksch ◽  
Karsten Berns ◽  
Rüdiger Dillmann
Keyword(s):  
Control Architecture ◽  
Behavior Control ◽  
Walking Machines
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