Cooperative Towing With Multiple Robots

2008 ◽  
Vol 1 (1) ◽  
Author(s):  
Peng Cheng ◽  
Jonathan Fink ◽  
Vijay Kumar ◽  
Jong-Shi Pang
Keyword(s):  
Mobile Robots ◽  
Dry Friction ◽  
Equations Of Motion ◽  
Experimental Results ◽  
Multiple Robots ◽  
Multiple Mobile Robots ◽  
Basic Concepts

In this paper, we address the cooperative towing of payloads by multiple mobile robots that move in the plane. Robots are attached via cables to an object or a pallet carrying a payload, and they coordinate their motion to manipulate the payload through a planar warehouselike environment. We formulate a quasistatic model for manipulation and derive equations of motion that yield the motion of the payload for a prescribed motion of the robots in the presence of dry friction and tension constraints. We present the experimental results that demonstrate the basic concepts.

Cooperative Towing With Multiple Robots

2008 ◽  
Author(s):  
Jonathan Fink ◽  
Peng Cheng ◽  
Vijay Kumar
Keyword(s):  
Mobile Robots ◽  
Dry Friction ◽  
Equations Of Motion ◽  
Static Model ◽  
Multiple Robots ◽  
Coordinated Motion ◽  
Multiple Mobile Robots ◽  
Basic Concepts ◽  
Simulation Results

In this paper, we address the cooperative towing of payloads by multiple mobile robots in the plane. Robots are attached via cables to a planar object or a pallet carrying a payload. Coordinated motion by the robots allow the payload to be manipulated through a planar, warehouse-like environment. We formulate a quasi-static model for manipulation and derive equations of motion that yield the motion of the payload for a prescribed motion of the robots in the presence of dry friction and tension constraints. We present experimental and simulation results that demonstrate the basic concepts.

Effects of Multi-Robot Team Formations on Distributed Area Coverage

2019 ◽  
pp. 1192-1219
Author(s):  
Prithviraj Dasgupta ◽  
Taylor Whipple ◽  
Ke Cheng
Keyword(s):  
Mobile Robots ◽  
Area Coverage ◽  
Experimental Results ◽  
Wheel Slip ◽  
Robot System ◽  
Multiple Mobile Robots ◽  
Unknown Environment ◽  
Robot Teams ◽  
And Performance ◽  
Multi Robot

This paper examines the problem of distributed coverage of an initially unknown environment using a multi-robot system. Specifically, focus is on a coverage technique for coordinating teams of multiple mobile robots that are deployed and maintained in a certain formation while covering the environment. The technique is analyzed theoretically and experimentally to verify its operation and performance within the Webots robot simulator, as well as on physical robots. Experimental results show that the described coverage technique with robot teams moving in formation can perform comparably with a technique where the robots move individually while covering the environment. The authors also quantify the effect of various parameters of the system, such as the size of the robot teams, the presence of localization, and wheel slip noise, as well as environment related features like the size of the environment and the presence of obstacles and walls on the performance of the area coverage operation.

Effects of Multi-Robot Team Formations on Distributed Area Coverage

2011 ◽  
Vol 2 (1) ◽  
pp. 44-69 ◽  
Author(s):  
Prithviraj Dasgupta ◽  
Taylor Whipple ◽  
Ke Cheng
Keyword(s):  
Mobile Robots ◽  
Area Coverage ◽  
Experimental Results ◽  
Wheel Slip ◽  
Robot System ◽  
Multiple Mobile Robots ◽  
Unknown Environment ◽  
Robot Teams ◽  
And Performance ◽  
Multi Robot

This paper examines the problem of distributed coverage of an initially unknown environment using a multi-robot system. Specifically, focus is on a coverage technique for coordinating teams of multiple mobile robots that are deployed and maintained in a certain formation while covering the environment. The technique is analyzed theoretically and experimentally to verify its operation and performance within the Webots robot simulator, as well as on physical robots. Experimental results show that the described coverage technique with robot teams moving in formation can perform comparably with a technique where the robots move individually while covering the environment. The authors also quantify the effect of various parameters of the system, such as the size of the robot teams, the presence of localization, and wheel slip noise, as well as environment related features like the size of the environment and the presence of obstacles and walls on the performance of the area coverage operation.

Environment Recognition and Path Planning by Multiple Mobile Robots

1997 ◽  
Vol 9 (5) ◽  
pp. 380-386
Author(s):  
Toshiyuki Kumaki ◽  
◽  
Masahito Nakajima ◽  
Masayoshi Kakikura ◽  
Keyword(s):  
Path Planning ◽  
Mobile Robots ◽  
Simulation Experiment ◽  
Distributed Coordination ◽  
Multiple Robots ◽  
Multiple Mobile Robots ◽  
Unknown Environments ◽  
Environment Recognition ◽  
Coordination Work ◽  
Observation Method

This article, concerned with a part of the research on distributed coordination work by multiple robots, discusses an algorithm for creating maps of unknown environments which are searched for and observed by multiple mobile robots, and on the results of a simulation experiment using this algorithm. This algorithm comprises a moving method, an observation method, and a task planning method which are intended to help the multiple mobile robots carry out an efficient search of unknown environments.

Flocking Task Research for Multiple Mobile Robots Based on Evolutionary Game Model

2011 ◽  
Vol 201-203 ◽  
pp. 1845-1848
Author(s):  
Ye Ye ◽  
Neng Gang Xie ◽  
Yu Wan Cen ◽  
Qing Yun Liu
Keyword(s):  
Game Theory ◽  
Mobile Robots ◽  
Evolutionary Game ◽  
Planning Problem ◽  
Game Model ◽  
Multiple Robots ◽  
Multi Objective Optimization ◽  
Multiple Mobile Robots ◽  
Coordinated Path Planning ◽  
Path Planning Problem

For flocking task of multiple mobile robots (MMR for short), the paper establishes a multi-objective optimization model and studies a solving method based on game theory. According to evolutionary game theory and taking the dynamic variability of gaming behaviors into account, it proposes a method based on evolutionary game model by using evolutionary rules “In success, commit oneself to the welfare of the society; in distress, maintain one‘s own integrity ”. Then, the paper performs researches on path coordination and obtains the optimum non-collision coordinated paths of flocking task for MMR. The simulation results show that the evolutionary game method can effectively solve coordinated path planning problem for multiple robots. By contrast with Nash equilibrium game model and coalition cooperative game model through computation results, the paper illustrates that the evolutionary game model is the best.

scholarly journals Coordinated Control Of Mobile Robots Based On Artificial Vision

2006 ◽  
Vol 1 (2) ◽  
pp. 85 ◽  
Author(s):  
Carlos M. Soria ◽  
Ricardo Carelli ◽  
Rafael Kelly ◽  
Juan M. Ibarra Zannatha
Keyword(s):  
Control System ◽  
Mobile Robots ◽  
Equilibrium Point ◽  
Control Strategy ◽  
Visual Information ◽  
Coordinated Control ◽  
Experimental Results ◽  
Artificial Vision ◽  
Asymptotically Stable ◽  
Multiple Robots

This work presents a control strategy for coordination of multiple robots based on artificial vision to measure the relative posture between them, in order to reach and maintain a specified formation. Given a leader robot that moves about an unknown trajectory with unknown velocity, a controller is designed to maintain the robots following the leader at a certain distance behind, by using visual information about the position of the leader robot. The control system is proved to be asymptotically stable at the equilibrium point, which corresponds to the accomplishment of the navigation objective. Experimental results with two robots, a leader and a follower, are included to show the performance of the vision-based control system.

scholarly journals Efficient and secure real-time mobile robots cooperation using visual servoing

2020 ◽  
Vol 10 (3) ◽  
pp. 3022
Author(s):  
Soumia Boudra ◽  
Nasr-Eddine Berrached ◽  
Amine Dahane
Keyword(s):  
Mobile Robots ◽  
Real Time ◽  
Visual Servoing ◽  
Reporting System ◽  
Experimental Results ◽  
Interaction Matrix ◽  
Multiple Robots ◽  
Challenging Problem ◽  
Accident Detection ◽  
Powerful Mechanism

This paper deals with the challenging problem of navigation in formation of mobiles robots fleet. For that purpose, a secure approach is used based on visual servoing to control velocities (linear and angular) of the multiple robots. To construct our system, we develop the interaction matrix which combines the moments in the image with robots velocities and we estimate the depth between each robot and the targeted object. This is done without any communication between the robots which eliminate the problem of the influence of each robot errors on the whole. For a successful visual servoing, we propose a powerful mechanism to execute safely the robots navigation, exploiting a robot accident reporting system using raspberry Pi3. In addition, in case of problem, a robot accident detection reporting system testbed is used to send an accident notification, in the form of a specifical message. Experimental results are presented using nonholonomic mobiles robots with on-board real time cameras, to show the effectiveness of the proposed method.

Division of Iterative-Transportation Based on Local Observation by Multiple Mobile Robots

2012 ◽  
Vol 16 (3) ◽  
pp. 462-468
Author(s):  
Yuichi Kobayashi ◽  
◽  
Yuta Sato ◽  
Manabu Gouko ◽  
◽  
...  
Keyword(s):  
Mobile Robots ◽  
Control Law ◽  
Total Efficiency ◽  
Global Information ◽  
Centralized Control ◽  
Multiple Robots ◽  
Multiple Mobile Robots ◽  
Local Observation ◽  
Excessive Number ◽  
Explicit Communication

This paper deals with a framework of decentralized approach to division of labor by multiple mobile robots. An iterative-transportation task by multiple robots with multiple sets of starts (pick-up place of the object) and goals (put down place) is considered as the task. On each route between a start and a goal, the efficiency of transportation improves when the number of robots increases. Due to jams, however, excessive number of robots on the same route causes inefficiency. We propose a control law of each robot to choose an appropriate route so as to optimize the total efficiency of the transportation, where each robot utilizes information which can be obtained only by local observation (without any explicit communication among robots). The proposed control is based on the estimation of the number of robots on the routes in the future. In simulation, it was verified that the proposed control law realized 96% efficiency of the fully centralized control by appropriately choosing the route, compared with the case where global information can be utilized.

scholarly journals A Bio-Inspired Algorithm for Autonomous Task Coordination of Multiple Mobile Robots

Proceedings ◽  
2018 ◽  
Vol 4 (1) ◽  
pp. 1 ◽  
Author(s):  
Abhijeet Ravankar ◽  
Ankit Ravankar ◽  
Yukinori Kobayashi ◽  
Yohei Hoshino
Keyword(s):  
Mobile Robots ◽  
Service Robots ◽  
Multirobot Systems ◽  
Multiple Robots ◽  
Autonomous Exploration ◽  
Multiple Mobile Robots ◽  
Task Coordination ◽  
Task Division

Efficient task co-ordination is an important problem in multirobot systems. The explicit programming of each robot to perform specific tasks (e.g., cleaning) is too cumbersome and inefficient, as the areas to serve in a map may vary with time. Moreover, the number of available robots to serve may also vary, as some of the robots may be charging and not available. Improper task division can cause two or more robots to serve the same areas of the map, which is a waste of computation and resources. Hence, there is a need for a simpler scheme for the autonomous task co-ordination of multiple robots without the need for explicit programming. This paper presents a bioinspired algorithm that uses the attractive and repelling behavior of pheromones for autonomous task co-ordination. The proposed algorithm uses a node representation of navigational paths for autonomous exploration. This repelling mechanism also allows robots to capture areas or subareas of the map so that there is efficient task co-ordination, and robots work without interruption from other robots. We show through experiments that the proposed scheme enables multiple service robots to intelligently perform co-operative tasks without any explicit programming or commands.

Effects of Multi-Robot Team Formations on Distributed Area Coverage

2013 ◽  
pp. 260-286
Author(s):  
Prithviraj Dasgupta ◽  
Taylor Whipple ◽  
Ke Cheng
Keyword(s):  
Mobile Robots ◽  
Area Coverage ◽  
Experimental Results ◽  
Wheel Slip ◽  
Robot System ◽  
Multiple Mobile Robots ◽  
Unknown Environment ◽  
Robot Teams ◽  
And Performance ◽  
Multi Robot

This paper examines the problem of distributed coverage of an initially unknown environment using a multi-robot system. Specifically, focus is on a coverage technique for coordinating teams of multiple mobile robots that are deployed and maintained in a certain formation while covering the environment. The technique is analyzed theoretically and experimentally to verify its operation and performance within the Webots robot simulator, as well as on physical robots. Experimental results show that the described coverage technique with robot teams moving in formation can perform comparably with a technique where the robots move individually while covering the environment. The authors also quantify the effect of various parameters of the system, such as the size of the robot teams, the presence of localization, and wheel slip noise, as well as environment related features like the size of the environment and the presence of obstacles and walls on the performance of the area coverage operation.

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