scholarly journals Discrete analysis of elastic cables

2012 ◽  
Vol 7 (2) ◽  
pp. 98-103 ◽  
Author(s):  
Martti Kiisa ◽  
Juhan Idnurm ◽  
Siim Idnurm
Keyword(s):  
Discrete Analysis ◽  
Elastic Cables

Discrete analysis in obstacle clustering by heterogeneous robots

2014 ◽  
Vol 2 ◽  
pp. 45-48
Author(s):  
Yuichiro SUEOKA ◽  
Takuto KITA ◽  
Masato ISHIKAWA ◽  
Yasuhiro SUGIMOTO ◽  
Koichi OSUKA
Keyword(s):  
Discrete Analysis ◽  
Heterogeneous Robots

Collaborative Control of Multiple Robots Using Genetic Fuzzy Systems

Robotica ◽  
2019 ◽  
Vol 37 (11) ◽  
pp. 1922-1936 ◽  
Author(s):  
Anoop Sathyan ◽  
Ou Ma
Keyword(s):  
Target Position ◽  
Multiple Robots ◽  
Fuzzy Logic Systems ◽  
Genetic Fuzzy Systems ◽  
Genetic Fuzzy System ◽  
Collaborative Control ◽  
Common Task ◽  
The Individual ◽  
Elastic Cables ◽  
Search Capability

SummaryThis paper introduces an approach of collaborative control for individual robots to collaboratively perform a common task, without the need for a centralized controller to coordinate the group. The approach is illustrated by an application example involving multiple robots performing a collaborative task to achieve a common goal. The objective of this example problem is to control multiple robots that are connected to an object through elastic cables in order to bring the object to a target position. There is no communication between the robots, and hence each robot is unaware of how the other robots are going to react at any instant. Only the information pertaining to the object and the target is available to all the robots at any instant. Genetic fuzzy system (GFS) is used to develop controller for each of the robots. The nonlinearity of fuzzy logic systems coupled with the search capability of genetic algorithms provides a tool to design controllers for such collaborative tasks. A set of training scenarios are developed to train the individual robot controllers for this task. The trained controllers are then tested on an extensive set of scenarios. This paper describes the development process of GFS controllers for dynamic case involving systems consisting of three robots. It is also shown that the GFS controllers are scalable for the more complex systems involving more than three robots.

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