Collective Behaviors of Mobile Robots Beyond the Nearest Neighbor Rules With Switching Topology

2018 ◽  
Vol 48 (5) ◽  
pp. 1577-1590 ◽  
Author(s):  
Boda Ning ◽  
Qing-Long Han ◽  
Zongyu Zuo ◽  
Jiong Jin ◽  
Jinchuan Zheng
Keyword(s):  
Mobile Robots ◽  
Nearest Neighbor ◽  
Switching Topology ◽  
Collective Behaviors

scholarly journals Self Control and Server-Supervisory Control for Multiple Mobile Robots and its Applicability to Intelligent DNC System

Robotics ◽  
2013 ◽  
pp. 375-390
Author(s):  
F. Nagata ◽  
T. Yamashiro ◽  
N. Kitahara ◽  
A. Otsuka ◽  
K. Watanabe ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Control Systems ◽  
Supervisory Control ◽  
Low Cost ◽  
Self Control ◽  
Control Mode ◽  
Actual System ◽  
Multiple Mobile Robots ◽  
Collective Behaviors ◽  
Nc Machine

Multiple mobile robots with six PSD (Position Sensitive Detector) sensors are designed for experimentally evaluating the performance of two control systems. They are self-control mode and server-supervisory control mode. The control systems are considered to realize swarm behaviors such as Ligia exotica. This is done by using only information of PSD sensors. Experimental results show basic but important behaviors for multiple mobile robots. They are following, avoidance, and schooling behaviors. The collective behaviors such as following, avoidance, and schooling emerge from the local interactions among the robots and/or between the robots and the environment. The objective of the study is to design an actual system for multiple mobile robots, to systematically simulate the behaviors of various creatures who form groups such as a school of fish or a swarm of insect. Further, the applicability of the server-supervisory control scheme to an intelligent DNC (Direct Numerical Control) system is briefly considered for future development. DNC system is an important peripheral apparatus, which can directly control NC machine tools. However, conventional DNC systems can neither deal with various information transmitted from different kinds of sensors through wireless communication nor output suitable G-codes by analyzing the sensors information in real time. The intelligent DNC system proposed at the end of the chapter aims to realize such a novel and flexible function with low cost.

scholarly journals Distributed Iterative Learning Formation control for Nonholonomic Multiple Wheeled Mobile Robots with Channel Noise

2021 ◽  
Vol 50 (3) ◽  
pp. 588-600
Author(s):  
Xuhui Bu ◽  
Rui Hou ◽  
Yanling Yin ◽  
Wei Yu ◽  
Jiahao Geng
Keyword(s):  
Mobile Robots ◽  
Formation Control ◽  
Tracking Error ◽  
Iterative Learning ◽  
Switching Topology ◽  
Channel Noise ◽  
Wheeled Mobile Robots ◽  
Formation Tracking ◽  
Information Interaction ◽  
The Time Domain

In this paper, we studied the robust formation control issue of multiple non-holonomic wheel mobile robots (WMRs) with nonlinear characteristics and considered the channel noise and switching communication topology, a distributed iterative learning formation control (DILFC) scheme using information interaction between robots is proposed. Firstly, the formation tracking error with consensus information is constructed, and the relationship between formation error and channel noise is obtained from the nonlinear system model of mobile robot. Next, the controller is designed based on the prediction and the current learning term between robots, and the switching topology is introduced into the formation algorithm in the form of piecewise function. The sufficient condition and norm upper bound for the formation tracking stability of the system are obtained by theoretical analysis. The results show that although the channel noise accumulates in both the time domain and iteration domain, the validity of formation tracking can be guaranteed by adjusting the sampling time of the system. To illustrate the effectiveness of the proposed scheme, numerical simulation results of a group of WMRs are presented.

The Knowledge Sharing Based Reinforcement Learning Algorithm for Collective Behaviors of Mobile Robots

2012 ◽  
Vol 588-589 ◽  
pp. 1515-1518
Author(s):  
Yong Song ◽  
Bing Liu ◽  
Yi Bin Li
Keyword(s):  
Reinforcement Learning ◽  
Mobile Robots ◽  
Knowledge Sharing ◽  
State Space ◽  
Learning Algorithm ◽  
Collective Behaviors ◽  
Q Learning ◽  
Exponential Increase ◽  
Multi Robot ◽  
Reinforcement Learning Algorithm

Reinforcement learning algorithm for multi-robot may will become very slow when the number of robots is increasing resulting in an exponential increase of state space. A sequential Q-learning base on knowledge sharing is presented. The rule repository of robots behaviors is firstly initialized in the process of reinforcement learning. Mobile robots obtain present environmental state by sensors. Then the state will be matched to determine if the relevant behavior rule has been stored in database. If the rule is present, an action will be chosen in accordance with the knowledge and the rules, and the matching weight will be refined. Otherwise the new rule will be joined in the database. The robots learn according to a given sequence and share the behavior database. We examine the algorithm by multi-robot following-surrounding behavior, and find that the improved algorithm can effectively accelerate the convergence speed.

Self Control and Server-Supervisory Control for Multiple Mobile Robots, and its Applicability to Intelligent DNC System

2012 ◽  
pp. 67-84
Author(s):  
F. Nagata ◽  
T. Yamashiro ◽  
N. Kitahara ◽  
A. Otsuka ◽  
K. Watanabe ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Control Systems ◽  
Supervisory Control ◽  
Low Cost ◽  
Self Control ◽  
Control Mode ◽  
Actual System ◽  
Multiple Mobile Robots ◽  
Collective Behaviors ◽  
Nc Machine

Multiple mobile robots with six PSD (Position Sensitive Detector) sensors are designed for experimentally evaluating the performance of two control systems. They are self-control mode and server-supervisory control mode. The control systems are considered to realize swarm behaviors such as Ligia exotica. This is done by using only information of PSD sensors. Experimental results show basic but important behaviors for multiple mobile robots. They are following, avoidance, and schooling behaviors. The collective behaviors such as following, avoidance, and schooling emerge from the local interactions among the robots and/or between the robots and the environment. The objective of the study is to design an actual system for multiple mobile robots, to systematically simulate the behaviors of various creatures who form groups such as a school of fish or a swarm of insect. Further, the applicability of the server-supervisory control scheme to an intelligent DNC (Direct Numerical Control) system is briefly considered for future development. DNC system is an important peripheral apparatus, which can directly control NC machine tools. However, conventional DNC systems can neither deal with various information transmitted from different kinds of sensors through wireless communication nor output suitable G-codes by analyzing the sensors information in real time. The intelligent DNC system proposed at the end of the chapter aims to realize such a novel and flexible function with low cost.

scholarly journals Research on Map Construction and Location of Laboratory Service Robot based on Iterative Closest Point

2020 ◽  
Vol 14 ◽  
Keyword(s):  
Mobile Robots ◽  
Nearest Neighbor ◽  
Laser Scanner ◽  
Service Robots ◽  
Iterative Closest Point ◽  
Service Robot ◽  
Matching Algorithm ◽  
Laboratory Service ◽  
Translation Error ◽  
Map Construction

The development of mobile robots has led to their wide application in a variety of fields. This study focuses on the intelligent application of mobile robots in laboratory management, especially the environmental awareness and self-positioning of a robot in the laboratory. In this study, a wheeled mobile robot is selected and equipped with a 2D laser scanner. Based on this, a Robot Operating System (ROS) environment is built. The nearest neighbor iterative closest point (ICP) matching algorithm is utilized to perceive the laboratory service environment, construct the indoor map in real time, and locate the robot precisely. Subsequently, data collected in the corridors and indoor environment of the experimental building are used to test the accuracy of the ICP matching algorithm. The results showed that the minimum translation error is as low as 0.0003 m and that the minimum rotation angle error is less than 0.5°. In addition, the positioning and mapping of the robot were analyzed. The experimental results show that the ICP matching algorithm is well suited to map construction and positioning of the laboratory service robot. This is of great significance for further research on laboratory service robots.

Dynamics of Globally-, Dissipatively-Coupled Resonators

2013 ◽  
Author(s):  
Andrew B. Sabater ◽  
Jeffrey F. Rhoads
Keyword(s):  
Nearest Neighbor ◽  
Coupled System ◽  
Coupled Resonators ◽  
Single Input Single Output ◽  
Collective Behaviors ◽  
Mass Sensors ◽  
Work Related ◽  
Single Output ◽  
Systems Research ◽  
Oscillator Arrays

Examples of coupled resonator and oscillator arrays in engineering, scientific and mathematical contexts are diverse and abundant. However, when the technical scope is limited to mechanical systems, research typically focuses on arrays of resonators in which the coupling between the sub-units is conservative and nearest-neighbor in nature. In these arrays, if the sub-units are nominally identical, and the coupling is weak, collective behaviors such as localization, the spatial confinement of energy in distinct or limited regions, can be observed. In contrast, if the coupling is global and dissipative, very different collective dynamics are observed, namely, group resonance, confined attenuation, and group attenuation, the latter two of which are associated with the local absence of energy. This paper investigates these dynamic phenomena within the context of a generic, globally-, dissipatively-coupled system, which is motivated by recent work related to electromagnetically-coupled microresonator arrays. The results of this work have direct applicability in new single-input, single-output resonant mass sensors, and, with extension, a variety of other sensing and signal processing applications.

Evolving Mobile Robots Able to Display Collective Behaviors

2003 ◽  
Vol 9 (3) ◽  
pp. 255-267 ◽  
Author(s):  
Gianluca Baldassarre ◽  
Stefano Nolfi ◽  
Domenico Parisi
Keyword(s):  
Mobile Robots ◽  
Structural Properties ◽  
Collective Behavior ◽  
Single Unit ◽  
The Self ◽  
Powerful Method ◽  
Collective Behaviors ◽  
Primitive Forms ◽  
Quantitative Indexes ◽  
Light Target

We present a set of experiments in which simulated robots are evolved for the ability to aggregate and move together toward a light target. By developing and using quantitative indexes that capture the structural properties of the emerged formations, we show that evolved individuals display interesting behavioral patterns in which groups of robots act as a single unit. Moreover, evolved groups of robots with identical controllers display primitive forms of situated specialization and play different behavioral functions within the group according to the circumstances. Overall, the results presented in the article demonstrate that evolutionary techniques, by exploiting the self-organizing behavioral properties that emerge from the interactions between the robots and between the robots and the environment, are a powerful method for synthesizing collective behavior.

Observation of Superlattice Dislocations on Cube Planes in Ni3Al

1973 ◽  
Vol 31 ◽  
pp. 174-175 ◽  
Author(s):  
J. M. Oblak ◽  
W. H. Rand
Keyword(s):  
Nearest Neighbor ◽  
Antiphase Boundary ◽  
Nearest Neighbors ◽  
High Energy ◽  
Cross Slip ◽  
Octahedral Plane ◽  
Trapping Mechanism ◽  
Slip Traces

The energy of an a/2 <110> shear antiphase. boundary in the Ll2 expected to be at a minimum on {100} cube planes because here strue ture is there is no violation of nearest-neighbor order. The latter however does involve the disruption of second nearest neighbors. It has been suggested that cross slip of paired a/2 <110> dislocations from octahedral onto cube planes is an important dislocation trapping mechanism in Ni3Al; furthermore, slip traces consistent with cube slip are observed above 920°K.Due to the high energy of the {111} antiphase boundary (> 200 mJ/m2), paired a/2 <110> dislocations are tightly constricted on the octahedral plane and cannot be individually resolved.

Application of Lattice Imaging Techniques to Amorphous Films

1975 ◽  
Vol 33 ◽  
pp. 8-9
Author(s):  
S. R. Herd ◽  
P. Chaudhari
Keyword(s):  
Nearest Neighbor ◽  
Random Network ◽  
Imaging Techniques ◽  
Network Models ◽  
Accurate Method ◽  
Direct Transmission ◽  
Lattice Imaging ◽  
Transmission Electron ◽  
Lattice Planes ◽  
Nearest Neighbor Distances

Electron diffraction and direct transmission have been used extensively to study the local atomic arrangement in amorphous solids and in particular Ge. Nearest neighbor distances had been calculated from E.D. profiles and the results have been interpreted in terms of the microcrystalline or the random network models. Direct transmission electron microscopy appears the most direct and accurate method to resolve this issue since the spacial resolution of the better instruments are of the order of 3Å. In particular the tilted beam interference method is used regularly to show fringes corresponding to 1.5 to 3Å lattice planes in crystals as resolution tests.

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