Cooperative Robot Exploration Strategy Using an Efficient Backtracking Method for Multiple Robots

2018 ◽  
Vol 10 (6) ◽  
Author(s):  
Jinho Kim ◽  
Stephanie Bonadies ◽  
Charles D. Eggleton ◽  
S. Andrew Gadsden
Keyword(s):  
Data Structure ◽  
Mobile Robots ◽  
Objective Function ◽  
Real Time ◽  
Random Tree ◽  
Multiple Robots ◽  
Range Finding ◽  
Exploration Strategy ◽  
Configuration Data

This paper presents a cooperative robot exploration (CRE) strategy that is based on the sensor-based random tree (SRT) star method. The CRE strategy is utilized for a team of mobile robots equipped with range finding sensors. Existing backtracking techniques for frontier-based (FB) exploration involve moving back thorough the previous position where the robot has passed before. However, in some cases, the robot generates inefficient detours to move back to the position that contains frontier areas. In an effort to improve upon movement and energy efficiencies, this paper proposes the use of a hub node that has a frontier arc; thereby, the robots backtrack more directly to hub nodes by using the objective function. Furthermore, each robot cooperatively explores the workspace utilizing the data structure from the entire team of robots, which consists of configuration data and frontier data. Comparative simulations of the proposed algorithm and the existing SRT-star algorithm are implemented and described. The experiment is presented to demonstrate the application of the proposed strategy in real-time. Utilizing the proposed algorithm and exploration strategy, the results indicate that a team of robots can work more efficiently by reducing the distance of exploration and the number of node visited.

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.

scholarly journals Graph-Based Construction of 3D Korean Giwa House Models

Buildings ◽  
2019 ◽  
Vol 9 (3) ◽  
pp. 68
Author(s):  
Mankyu Sung
Keyword(s):  
Data Structure ◽  
Computer Graphics ◽  
Real Time ◽  
Texture Image ◽  
Time Rate ◽  
Commercial Software ◽  
Spline Curve ◽  
High Level ◽  
Complicated Part ◽  
Different Parts

This paper proposes a graph-based algorithm for constructing 3D Korean traditional houses automatically using a computer graphics technique. In particular, we target designing the most popular traditional house type, a giwa house, whose roof is covered with a set of Korean traditional roof tiles called giwa. In our approach, we divided the whole design processes into two different parts. At a high level, we propose a special data structure called ‘modeling graphs’. A modeling graph consists of a set of nodes and edges. A node represents a particular component of the house and an edge represents the connection between two components with all associated parameters, including an offset vector between components. Users can easily add/ delete nodes and make them connect by an edge through a few mouse clicks. Once a modeling graph is built, then it is interpreted and rendered on a component-by-component basis by traversing nodes in a procedural way. At a low level, we came up with all the required parameters for constructing the components. Among all the components, the most beautiful but complicated part is the gently curved roof structures. In order to represent the sophisticated roof style, we introduce a spline curve-based modeling technique that is able to create curvy silhouettes of three different roof styles. In this process, rather than just applying a simple texture image onto the roof, which is widely used in commercial software, we actually laid out 3D giwa tiles on the roof seamlessly, which generated more realistic looks. Through many experiments, we verified that the proposed algorithm can model and render the giwa house at a real time rate.

Bio-Inspired, Real-Time Passive Vision for Mobile Robots

2019 ◽  
pp. 33-58
Author(s):  
Piotr Skrzypczyński ◽  
Marta Rostkowska ◽  
Marek Wa̧sik
Keyword(s):  
Mobile Robots ◽  
Real Time
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