scholarly journals A multi-robot architecture for the RoboCup Logistics League

2020 ◽  
Vol 137 (6) ◽  
pp. 291-296
Author(s):  
Peter Kohout ◽  
Marco De Bortoli ◽  
Jakob Ludwiger ◽  
Thomas Ulz ◽  
Gerald Steinbauer
Keyword(s):  
Mobile Robot ◽  
Product Configuration ◽  
Delivery Time ◽  
Time Production ◽  
On Demand ◽  
Robot Architecture ◽  
Production Environments ◽  
Robot Systems ◽  
Multi Robot

Abstract Due to increasing demands on flexibility in terms of product configuration as well as delivery time production settings increasingly use teams of mobile robot systems. The RoboCup Logistics League was designed to provide a testbed to develop and test such flexibe multi-robot approaches for production environments. It resembles a product setting with on-demand product orders of different configurations. In this article we introduce the concept of the leagues and we present the solution of the team GRIPS to face that challenge.

scholarly journals Consensus Algorithms Based Multi-Robot Formation Control under Noise and Time Delay Conditions

2019 ◽  
Vol 9 (5) ◽  
pp. 1004 ◽  
Author(s):  
Heng Wei ◽  
Qiang Lv ◽  
Nanxun Duo ◽  
GuoSheng Wang ◽  
Bing Liang
Keyword(s):  
Time Delay ◽  
Mobile Robot ◽  
Formation Control ◽  
Second Order ◽  
Multiple Time ◽  
Consensus Problem ◽  
Robot System ◽  
Maximum Time ◽  
Robot Systems ◽  
Multi Robot

In recent years, the formation control of multi-mobile robots has been widely investigated by researchers. With increasing numbers of robots in the formation, distributed formation control has become the development trend of multi-mobile robot formation control, and the consensus problem is the most basic problem in the distributed multi-mobile robot control algorithm. Therefore, it is very important to analyze the consensus of multi-mobile robot systems. There are already mature and sophisticated strategies solving the consensus problem in ideal environments. However, in practical applications, uncertain factors like communication noise, communication delay and measurement errors will still lead to many problems in multi-robot formation control. In this paper, the consensus problem of second-order multi-robot systems with multiple time delays and noises is analyzed. The characteristic equation of the system is transformed into a quadratic polynomial of pure imaginary eigenvalues using the frequency domain analysis method, and then the critical stability state of the maximum time delay under noisy conditions is obtained. When all robot delays are less than the maximum time delay, the system can be stabilized and achieve consensus. Compared with the traditional Lyapunov method, this algorithm has lower conservativeness, and it is easier to extend the results to higher-order multi-robot systems. Finally, the results are verified by numerical simulation using MATLAB/Simulink. At the same time, a multi-mobile robot platform is built, and the proposed algorithm is applied to an actual multi-robot system. The experimental results show that the proposed algorithm is finally able to achieve the consensus of the second-order multi-robot system under delay and noise interference.

A Distributed Self-Deployment Algorithm Suitable for Multiple Nonholonomic Mobile Robots

2008 ◽  
Author(s):  
Yu Zhou
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Variational Calculus ◽  
Dissipation Function ◽  
Nonholonomic Mobile Robots ◽  
Local Configuration ◽  
Robot Systems ◽  
The Difference ◽  
The Stability ◽  
Multi Robot

This paper introduces a novel distributed algorithm for deploying multi-robot systems, consisting of mobile robots with onboard sensing and wireless communication of limited ranges, to approach the desired sensory coverage while maintaining communication connection over targeted 2D environments. A virtual potential energy is defined for each mobile robot according to the difference between the actual and desired configurations in the neighborhood of the robot, which generates the actuating force to move the robot towards the desired local coverage. The Rayleigh’s dissipation function is adopted to provide the necessary damping mechanism which maintains the stability of the deployment motion for each robot. The equation of deployment motion for each mobile robot is then derived from the Hamilton’s principle using the method of the variational calculus, which defines the movement of the robot to approach the desired local configuration. The formulation of the variational calculus also provides a convenience way to incorporate the nonholonomic constraint arising in wheeled robots. Since the equation of deployment motion for each robot depends on only the robot’s own kinematic state and its detectable positional relationship with nearby objects, the proposed algorithm decentralizes the multi-robot deployment problem into the motion control of individual robots. Simulation results show the feasibility of the proposed approach in guiding the deployment of multi-robot systems.

scholarly journals An Estimator for the Kinematic Behaviour of a Mobile Robot Subject to Large Lateral Slip

2021 ◽  
Vol 11 (4) ◽  
pp. 1594 ◽  
Author(s):  
Andrea Botta ◽  
Paride Cavallone ◽  
Luigi Tagliavini ◽  
Luca Carbonari ◽  
Carmen Visconte ◽  
...  
Keyword(s):  
Experimental Data ◽  
Mobile Robot ◽  
Trajectory Planning ◽  
Kinematic Model ◽  
Close Connection ◽  
Wheel Slip ◽  
Robot Architecture ◽  
Experimental Campaign ◽  
Base Concept ◽  
Kinematic Behaviour

In this paper, the effects of wheel slip compensation in trajectory planning for mobile tractor-trailer robot applications are investigated. Firstly, a kinematic model of the proposed robot architecture is marked out, then an experimental campaign is done to identify if it is possible to kinematically compensate trajectories that otherwise would be subject to large lateral slip. Due to the close connection to the experimental data, the results shown are valid only for Epi.q, the prototype that is the main object of this manuscript. Nonetheless, the base concept can be usefully applied to any mobile robot subject to large lateral slip.

scholarly journals Resilient Task Allocation in Heterogeneous Multi-Robot Systems

2021 ◽  
Vol 6 (2) ◽  
pp. 1327-1334
Author(s):  
Siddharth Mayya ◽  
Diego S. D'antonio ◽  
David Saldana ◽  
Vijay Kumar
Keyword(s):  
Task Allocation ◽  
Robot Systems ◽  
Multi Robot

scholarly journals Exploring Robot Connectivity and Collaborative Sensing in a High-School Enrichment Program

Robotics ◽  
2021 ◽  
Vol 10 (1) ◽  
pp. 13
Author(s):  
Igor M. Verner ◽  
Dan Cuperman ◽  
Michael Reitman
Keyword(s):  
High School ◽  
Positive Contribution ◽  
Smart Transportation ◽  
Sensory Data ◽  
Robot Systems ◽  
Enrichment Program ◽  
Collaborative Sensing ◽  
Robot Tasks ◽  
Value Of Learning ◽  
Multi Robot

Education is facing challenges to keep pace with the widespread introduction of robots and digital technologies in industry and everyday life. These challenges necessitate new approaches to impart students at all levels of education with the knowledge of smart connected robot systems. This paper presents the high-school enrichment program Intelligent Robotics and Smart Transportation, which implements an approach to teaching the concepts and skills of robot connectivity, collaborative sensing, and artificial intelligence, through practice with multi-robot systems. The students used a simple control language to program Bioloid wheeled robots and utilized Phyton and Robot Operating System (ROS) to program Tello drones and TurtleBots in a Linux environment. In their projects, the students implemented multi-robot tasks in which the robots exchanged sensory data via the internet. Our educational study evaluated the contribution of the program to students’ learning of connectivity and collaborative sensing of robot systems and their interest in modern robotics. The students’ responses indicated that the program had a high positive contribution to their knowledge and skills and fostered their interest in the learned subjects. The study revealed the value of learning of internet of things and collaborative sensing for enhancing this contribution.

scholarly journals Decentralized Task and Path Planning for Multi-Robot Systems

2021 ◽  
Vol 6 (3) ◽  
pp. 4337-4344
Author(s):  
Yuxiao Chen ◽  
Ugo Rosolia ◽  
Aaron D. Ames
Keyword(s):  
Path Planning ◽  
Robot Systems ◽  
Multi Robot
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