Diagnosis and repair of dependent failures in the control system of a mobile autonomous robot

2008 ◽  
Vol 36 (3) ◽  
pp. 511-528 ◽  
Author(s):  
Jörg Weber ◽  
Franz Wotawa
Keyword(s):  
Control System ◽  
Autonomous Robot ◽  
Dependent Failures ◽  
Mobile Autonomous Robot

A Stable Approach for Modular Learning and its Application to Autonomous Aero-Robot

2006 ◽  
Vol 18 (1) ◽  
pp. 44-50 ◽  
Author(s):  
Mai Bando ◽  
◽  
Hiroaki Nakanishi
Keyword(s):  
Control System ◽  
Numerical Simulations ◽  
Design Method ◽  
Autonomous Robot ◽  
Flight Experiment ◽  
Dynamic Relations ◽  
Lyapunov Design

A control system for an autonomous robot, which consists of several cooperative modules whose combination and structures change dynamically through interaction with environment, is discussed in this paper. We propose a method to design a control system by modular learning based on Lyapunov design method. In our method, modules that have different property and the dynamic relations between modules to achieve the task are learned. Numerical simulations and flight experiment of an autonomous aero-robot demonstrate the effectiveness of the proposed method.

scholarly journals Robot Navigation in Forest Management

2018 ◽  
Vol 30 (2) ◽  
pp. 223-230 ◽  
Author(s):  
Abbe Mowshowitz ◽  
Ayumu Tominaga ◽  
Eiji Hayashi ◽  
◽  
Keyword(s):  
Robot Navigation ◽  
Travelling Salesman Problem ◽  
Weighted Graph ◽  
Autonomous Robot ◽  
Travelling Salesman ◽  
Hamiltonian Circuit ◽  
Institute Of Technology ◽  
Individual Trees ◽  
Mobile Autonomous Robot ◽  
Small Forest

This paper addresses the problem of using a mobile, autonomous robot to manage a forest whose trees are destined for eventual harvesting. “Manage” in this context means periodical weeding between all the trees in the forest. We have constructed a robotic system enabling an autonomous robot to move between the trees without damaging them and to cut the weeds as it traverses the forest. This was accomplished by 1) computing a trajectory for the robot in advance of its entrance into the forest, and 2) developing a program and equipping the robot with the instruments needed to follow the trajectory. Computation of a trajectory in a forest is facilitated by treating the trees as vertices in a graph. Current, laser-based instruments make it possible to identify individual trees and compute distances between them. With this information a forest can be represented as a weighted graph. This graph can then be modified systematically in a way that allows for computing a Hamiltonian circuit that passes between each pair of trees. This representation is an instance of the well known Travelling Salesman Problem. The theory was put into practice in an experimental forest located at the Kyushu Institute of Technology. Our robot “SOMA,” built on an ATV platform, was able to follow a part of the trajectory computed for this small forest, thus demonstrating the feasibility of forest maintenance by an autonomous, labor saving robot.

Telerobotic Control System to Enhance Rescue Operations for Arm-Equipped Tracked Vehicle HELIOS IX

2014 ◽  
Vol 26 (1) ◽  
pp. 17-33 ◽  
Author(s):  
Ryuichi Hodoshima ◽  
◽  
Koji Ueda ◽  
Hiroaki Ishida ◽  
Michele Guarnieri ◽  
...  
Keyword(s):  
Control System ◽  
Motion Planning ◽  
Autonomous Robot ◽  
Sensor System ◽  
Tracked Vehicle ◽  
Rescue Robot ◽  
Door Opening ◽  
Shared Autonomy ◽  
Teleoperation System ◽  
Autonomous Motion

This paper focuses on a telerobotic system in which an operator executes tasks by operating an arm-equipped tracked vehicle, HELIOS IX. It is necessary to develop an assisting sensor system, teleoperation system, and semi-autonomous robot motions to enhance teleoperationability, because HELIOS IX has many DOFs and unique mechanisms. To realize this development, the authors discuss the required specifications of the sensors, teleoperation system, and semi-autonomous motion planning. First, the sensor system for assistance and teleoperation system are described. Next, terrain-adaptive, tracked locomotion with no additional sensors is explained and verified through terrain traversing experiments. Then, the authors discuss the telerobotic system for the door opening task, a system based on Shared Autonomy, and demonstrate that HELIOS IX can successfully perform the door opening task. Finally, we describe what we have learned and the problems involved in the development of the telerobotic system of the HELIOS IX rescue robot.

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