scholarly journals The RoCS Framework to Support the Development of Autonomous Robots

2019 ◽  
Vol 7 ◽  
pp. 10
Author(s):  
Leonardo Ramos ◽  
Gabriel Lisbôa Guimarães Divino ◽  
Guilherme Cano Lopes ◽  
Breno Bernard Nicolau De França ◽  
Leonardo Montecchi ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Autonomic Computing ◽  
Autonomous Robots ◽  
Robotic Systems ◽  
Software Architectures ◽  
Cognitive Systems ◽  
Reference Architecture ◽  
Creation Process ◽  
Systems Framework ◽  
Medical Competition

With the expansion of autonomous robotics and its applications (e.g. medical, competition, military), the biggest hurdle in developing mobile robots lies in endowing them with the ability to interact with the environment and to make correct decisions so that their tasks can be executed successfully. However, as the complexity of robotic systems grows, the need to organize and modularize software for their correct functioning also becomes a challenge, making the development of software for controlling robots a complex and intricate task. In the robotics domain, there is a lack of reference software architectures and, although most robot architectures available in the literature facilitate the creation process with their modularity, existing solutions do not provide development guidance on reusing existing modules. Based on the well- known IBM Autonomic Computing reference architecture (known as MAPE-K), this work defines a refined architecture following the Robotics perspective. To explore the capabilities of the proposed refinement, we implemented the RoCS (Robotics and Cognitive Systems) framework for autonomous robots. We successfully tested the framework under simulated robotics scenarios that mimic typical robotics tasks and evidence the framework reuse capability. Finally, we understand the proposed framework needs further experimental evaluation, particularly, assessments on real-world scenarios.

ArchSORS: A Software Process for Designing Software Architectures of Service-Oriented Robotic Systems

2017 ◽  
Vol 60 (9) ◽  
pp. 1363-1381 ◽  
Author(s):  
Lucas Bueno Ruas Oliveira ◽  
Elena Leroux ◽  
Katia Romero Felizardo ◽  
Flavio Oquendo ◽  
Elisa Yumi Nakagawa
Keyword(s):  
Software Process ◽  
Robotic Systems ◽  
Software Architectures ◽  
Service Oriented

scholarly journals Constant-Time Complete Visibility for Robots with Lights: The Asynchronous Case

Algorithms ◽  
2021 ◽  
Vol 14 (2) ◽  
pp. 56
Author(s):  
Gokarna Sharma ◽  
Ramachandran Vaidyanathan ◽  
Jerry L. Trahan
Keyword(s):  
Mobile Robots ◽  
Line Segment ◽  
Autonomous Robots ◽  
Straight Line Segment ◽  
Autonomous Mobile Robots ◽  
Asymptotically Optimal ◽  
Time Translation ◽  
Straight Line ◽  
A New Technique ◽  
Colored Lights

We consider the distributed setting of N autonomous mobile robots that operate in Look-Compute-Move (LCM) cycles and use colored lights (the robots with lights model). We assume obstructed visibility where a robot cannot see another robot if a third robot is positioned between them on the straight line segment connecting them. In this paper, we consider the problem of positioning N autonomous robots on a plane so that every robot is visible to all others (this is called the Complete Visibility problem). This problem is fundamental, as it provides a basis to solve many other problems under obstructed visibility. In this paper, we provide the first, asymptotically optimal, O(1) time, O(1) color algorithm for Complete Visibility in the asynchronous setting. This significantly improves on an O(N)-time translation of the existing O(1) time, O(1) color semi-synchronous algorithm to the asynchronous setting. The proposed algorithm is collision-free, i.e., robots do not share positions, and their paths do not cross. We also introduce a new technique for moving robots in an asynchronous setting that may be of independent interest, called Beacon-Directed Curve Positioning.

To the Anniversary of the Department of "Robotic Systems and Mechatronics" of the Bauman Moscow State Technical University

2021 ◽  
Vol 22 (11) ◽  
pp. 563-566
Author(s):  
V. V. Serebrennyj ◽  
A. A. Boshlyakov ◽  
A. S. Yuschenko
Keyword(s):  
Technical Progress ◽  
Autonomous Robots ◽  
Systems Design ◽  
Educational Programs ◽  
Robotic Systems ◽  
State Technical ◽  
Engineering School ◽  
School Based ◽  
Scientists And Engineers ◽  
Technical Systems

This year we celebrate the 70-th year of the chair founded in BMSTU in 1951 which name today is "Robotic Systems and Mechatronics". Evolution of the chair during the last 70 years is completely reflected the technical progress in the field of automation. From automatic drives to autonomous robots. Again with the improvement of the educational programs in accordance with the vital demands the chair managed to keep the basic traditions of the Russian engineering school based on the combination of the fundamental scientific background with the practical competence in the new technical systems design. The prominent scientists and engineers made a major contribution to the content and methods of training of future specialists in robotics and mechatronics which are acknowledged both in Russia and abroad. Nowadays robotics is transforming from perspective direction to urgent needs. The chair "Robotic Systems and Mechatronics" is completely ready to reply the new challenge of time.

scholarly journals Reliability Based Task Allocation Analysis for Multi-Robot Systems by Using Fuzzy Logic

2018 ◽  
pp. 8-12
Author(s):  
Muhammed Oguz Tas ◽  
Ugur Yayan ◽  
Hasan Serhan Yavuz ◽  
Ahmet Yazici
Keyword(s):  
Fuzzy Logic ◽  
Task Allocation ◽  
System Reliability ◽  
Fuzzy Inference ◽  
Autonomous Robots ◽  
Robotic Systems ◽  
Inference System ◽  
Load Carrying ◽  
Robot Systems

Robotic systems are used many areas where it is dangerous or difficult for people to do. The importance of autonomous robots increased with the Industry 4.0, and the concept of reliability needed more attention for long term operability of robotic systems. In this study, reliability based task allocation analysis is performed for robots by using fuzzy logic. With the help of fuzzy inference system, the result of reliability based task allocation are obtained using the amount of carried load and load carrying distances. In the study, cases of task allocation based on nearest and reliability were analyzed and compared. Experimental results showed that, the system reliability that occurs with reliability based task allocation is higher than the system reliability that occurs with nearest based task allocation.

scholarly journals Autonomous and Safe Navigation of Mobile Robots in Vineyard with Smooth Collision Avoidance

Agriculture ◽  
2021 ◽  
Vol 11 (10) ◽  
pp. 954
Author(s):  
Abhijeet Ravankar ◽  
Ankit A. Ravankar ◽  
Arpit Rawankar ◽  
Yohei Hoshino
Keyword(s):  
Mobile Robots ◽  
Real Time ◽  
Collision Avoidance ◽  
Autonomous Navigation ◽  
Autonomous Robots ◽  
Robot Navigation ◽  
Indoor Environments ◽  
Safe Distance ◽  
Field Robots ◽  
Safe Navigation

In recent years, autonomous robots have extensively been used to automate several vineyard tasks. Autonomous navigation is an indispensable component of such field robots. Autonomous and safe navigation has been well studied in indoor environments and many algorithms have been proposed. However, unlike structured indoor environments, vineyards pose special challenges for robot navigation. Particularly, safe robot navigation is crucial to avoid damaging the grapes. In this regard, we propose an algorithm that enables autonomous and safe robot navigation in vineyards. The proposed algorithm relies on data from a Lidar sensor and does not require a GPS. In addition, the proposed algorithm can avoid dynamic obstacles in the vineyard while smoothing the robot’s trajectories. The curvature of the trajectories can be controlled, keeping a safe distance from both the crop and the dynamic obstacles. We have tested the algorithm in both a simulation and with robots in an actual vineyard. The results show that the robot can safely navigate the lanes of the vineyard and smoothly avoid dynamic obstacles such as moving people without abruptly stopping or executing sharp turns. The algorithm performs in real-time and can easily be integrated into robots deployed in vineyards.

Automated Quantum Entanglement and Cryptography for Networks of Robotic Systems

2021 ◽  
Author(s):  
Farbod Khoshnoud ◽  
Maziar Ghazinejad
Keyword(s):  
Mobile Robots ◽  
Quantum Entanglement ◽  
Quantum Control ◽  
Single Photon ◽  
Autonomous Systems ◽  
Photon Counting ◽  
Robotic Systems ◽  
Single Photons ◽  
Alignment Procedure ◽  
Automated Alignment

Abstract In this paper the procedure for automating the photon quantum experiments for mobile robotic applications is presented. Due to the rapid advances of quantum technologies and quantum engineering, the integration of quantum capabilities in robotic and autonomous systems will be inevitable, and therefore the study and investigation of compatibility and adaptability of quantum systems and classical autonomous systems is of great importance. In a quantum-classical hybrid setup, the source of single photon generation is placed on a leader robot which can send correlated single photons to robot followers. In the case of quantum entanglement, spontaneous parametric down-conversion process using nonlinear paired BBO crystals is implemented which sends entangled photons to the single photon counting modules installed on mobile robots. In the case of quantum cryptography, single photons are sent from Alice robot to Bob robot, where Alice has the course of single photon and Bob has a polarizing beamsplitter and two detectors and that can detect the polarization of photons as vertical and horizontal. Bob then can convert the polarizations to a digital signals as zeros and ones and use them as communication information for control purposes through a classical channel. Motorized optics equipment can automatically align the source of photons to detectors on the mobile robots. The automated alignment procedure is one of the key enabling technologies in integrating quantum capabilities with control of mobile robotic systems. In this paper, in particular, the automated alignment is studied while considering the uncertainties in the dynamic of the system which can potentially cause the alignment task very challenging. The uncertainty analysis in the automated alignment is implemented by Optimal Uncertainty Quantification technique to ensure achieving the quantum control of the robotic systems and presented here for the first time.

A Software Architecture For Modular Robotic Systems

1994 ◽  
pp. 9-21
Author(s):  
S. Ariffin ◽  
R.H. Weston ◽  
R. Harrison
Keyword(s):  
Control System ◽  
Software Architecture ◽  
Open Systems ◽  
Systems Design ◽  
Robotic Systems ◽  
Reference Architecture ◽  
Real Time Control ◽  
Design Environment ◽  
Machine Control ◽  
And Control

Research is described which is leading to the specification and development of a motion simulation and design environment for modular robotic systems which enables the implementation of widely applicable software processes for machine control. Current investigation is focused on defining models of application tasks in modular robotic systems. This work is based on the Real-time Control System (RCS) reference architecture proposed by researchers at the National Institute of Standards and Technology (NIST) which was designed to support motion planning and implementation. However, this architecture is modified in such a way that it supports the concept of multitasking and inter-process communication. The emphasis of work is on the hierarchical structuring of solutions, this to enable the design and control of distributed motion elements. Also discussed in this paper is a strategy for achieving sensor-based modularization of modular robotic systems in a manner which facilitates fast and efficient response to changes in the functional or environmental requirements. The paper explains how an application software architecture is unified with the open systems design approach known as Universal Machine Control (UMC), which has been devised and developed at Loughborough University to enable reuse to software and control system components.

Robustness and Controllability Analysis for Autonomous Navigation of Two-Wheeled Mobile Robots

2007 ◽  
Author(s):  
Alessio Salerno ◽  
Jorge Angeles
Keyword(s):  
Mobile Robots ◽  
Autonomous Navigation ◽  
Autonomous Robots ◽  
Upper Bounds ◽  
Small Time ◽  
Dynamics Model ◽  
Wheeled Mobile Robots ◽  
Rank Condition ◽  
Dynamics Response ◽  
Kalman Rank Condition

This work deals with the robustness and controllability analysis for autonomous navigation of two-wheeled mobile robots. The analysis of controllability of the systems at hand is conducted using both the Kalman rank condition for controllability and the Lie Algebra rank condition. We show that the robots targeted in this work can be controlled using a model for autonomous navigation by means of their dynamics model: kinematics will not be sufficient to completely control these underactuated systems. After having proven that these autonomous robots are small-time locally controllable from every equilibrium point and locally accessible from the remaining points, the uncertainty is modeled resorting to a multiplicative approach. The dynamics response of these robots is analyzed in the frequency domain. Upper bounds for the complex uncertainty are established.

scholarly journals Dynamically Reconfigurable Robotic Systems. 21st Report. Behavior Decisions of Autonomous Mobile Robots by Multiprocesses.

1995 ◽  
Vol 61 (587) ◽  
pp. 3051-3058 ◽  
Author(s):  
Toshio Fukuda ◽  
Tsuyoshi Ueyama ◽  
Atsushi Sakai ◽  
Anhui Cai ◽  
Tunehiko Sugiura ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Autonomous Mobile Robots ◽  
Robotic Systems ◽  
Dynamically Reconfigurable

Reciprocity between second-person neuroscience and cognitive robotics

2013 ◽  
Vol 36 (4) ◽  
pp. 418-419
Author(s):  
Peter Ford Dominey
Keyword(s):  
Dark Matter ◽  
Cognitive Robotics ◽  
Robotic Systems ◽  
Cognitive Systems ◽  
Second Person ◽  
Dynamic Interactions ◽  
Cognitive Robots

AbstractAs there is “dark matter” in the neuroscience of individuals engaged in dynamic interactions, similar dark matter is present in the domain of interaction between humans and cognitive robots. Progress in second-person neuroscience will contribute to the development of robotic cognitive systems, and such developed robotic systems will be used to test the validity of the underlying theories.

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