An optimization-based shared control framework with applications in multi-robot systems

2017 ◽  
Vol 61 (1) ◽  
Author(s):  
Hao Fang ◽  
Chengsi Shang ◽  
Jie Chen
Keyword(s):  
Shared Control ◽  
Control Framework ◽  
Robot Systems ◽  
Multi Robot

scholarly journals Broadcast control of multi-robot systems with norm-limited update vector

2020 ◽  
Vol 17 (4) ◽  
pp. 172988142094595 ◽  
Author(s):  
Mohamad Hafizulazwan Mohamad Nor ◽  
Zool Hilmi Ismail ◽  
Mohd Ashraf Ahmad
Keyword(s):  
Numerical Simulations ◽  
Convergence Time ◽  
Unstable Solution ◽  
Motion Coordination ◽  
Control Framework ◽  
Robot Systems ◽  
Multi Robot

This article addresses a problem in standard broadcast control framework which leads to an unstable solution in a certain motion-coordination task. First, the unstable phenomenon in a certain motion-coordination task is illustrated using standard broadcast control framework. This issue calls for modification to the standard broadcast control framework by limiting the norm of the update vector of robots’ positions into a constant value. Then, we demonstrate that the modified broadcast controller achieves the convergence with the probability of 1. Finally, we illustrate in numerical simulations that the modified broadcast controller can effectively solve the instability issue and also may improve the convergence time as compared to the standard broadcast controller.

scholarly journals An AIS-based optimal control framework for longevity and task achievement of multi-robot systems

2012 ◽  
Vol 2 (1) ◽  
pp. 45-56
Author(s):  
Raymond Ching Man Chan ◽  
◽  
Henry Ying Kei Lau
Keyword(s):  
Optimal Control ◽  
Control Framework ◽  
Robot Systems ◽  
And Task ◽  
Multi Robot

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

scholarly journals Robustness of Multi-Robot Systems Controlling the Size of the Connected Component After Robot Failure

2020 ◽  
Vol 53 (2) ◽  
pp. 3137-3143
Author(s):  
Toru Murayama ◽  
Lorenzo Sabattini
Keyword(s):  
Connected Component ◽  
Robot Systems ◽  
Multi Robot
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