RISC-based architectures for multiple robot systems

1992 ◽  
Vol 16 (4) ◽  
pp. 177-186 ◽  
Author(s):  
G. Jimenez ◽  
J.L. Sevillano ◽  
A. Civit-Balcells ◽  
F. Diaz ◽  
A. Civit-Breu
Keyword(s):  
Robot Systems ◽  
Multiple Robot

scholarly journals Multi AGV Coordination Tolerant to Communication Failures

Robotics ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 55
Author(s):  
Diogo Matos ◽  
Pedro Costa ◽  
José Lima ◽  
Paulo Costa
Keyword(s):  
Communication Network ◽  
Simulation Software ◽  
Development Environment ◽  
Supervision System ◽  
Movement Dynamics ◽  
Robot Systems ◽  
Temporal Estimation ◽  
Temporal Efficiency ◽  
Multiple Robot ◽  
Multi Robot

Most path planning algorithms used presently in multi-robot systems are based on offline planning. The Timed Enhanced A* (TEA*) algorithm gives the possibility of planning in real time, rather than planning in advance, by using a temporal estimation of the robot’s positions at any given time. In this article, the implementation of a control system for multi-robot applications that operate in environments where communication faults can occur and where entire sections of the environment may not have any connection to the communication network will be presented. This system uses the TEA* to plan multiple robot paths and a supervision system to control communications. The supervision system supervises the communication with the robots and checks whether the robot’s movements are synchronized. The implemented system allowed the creation and execution of paths for the robots that were both safe and kept the temporal efficiency of the TEA* algorithm. Using the Simtwo2020 simulation software, capable of simulating movement dynamics and the Lazarus development environment, it was possible to simulate the execution of several different missions by the implemented system and analyze their results.

A Decentralized Control Architecture to Achieve Synchronized Task Behaviors in Autonomous Cooperative Multi-Robot Systems

2019 ◽  
pp. 944-966
Author(s):  
Gen'ichi Yasuda
Keyword(s):  
Cooperative Control ◽  
Cooperative Behavior ◽  
Discrete Event ◽  
Control Architecture ◽  
Level Control ◽  
Robot Systems ◽  
Extended Petri Nets ◽  
Upper Level ◽  
Multiple Robot ◽  
And Control

This chapter describes a method for designing decentralized simulation and control architecture for multiple robot systems based on the discrete event net models. Extended Petri nets are adopted as an effective tool to describe, design, and control cooperative behavior of multiple robots based on asynchronous, concurrent processes. By hierarchical decomposition of the net model of the overall system, global and local Petri net models are assigned to the upper level and the lower level controllers, respectively. For the lower level control, individual net models of robots are executed on separate local controllers. The unified net representation for cooperative control is also proposed. Overall control software is implemented and executed on a general hierarchical and distributed control architecture corresponding to the hardware structure of multiple robot systems.

A Decentralized Control Architecture to Achieve Synchronized Task Behaviors in Autonomous Cooperative Multi-Robot Systems

2018 ◽  
pp. 1-23
Author(s):  
Gen'ichi Yasuda
Keyword(s):  
Cooperative Control ◽  
Cooperative Behavior ◽  
Discrete Event ◽  
Control Architecture ◽  
Level Control ◽  
Robot Systems ◽  
Extended Petri Nets ◽  
Upper Level ◽  
Multiple Robot ◽  
And Control

This chapter describes a method for designing decentralized simulation and control architecture for multiple robot systems based on the discrete event net models. Extended Petri nets are adopted as an effective tool to describe, design, and control cooperative behavior of multiple robots based on asynchronous, concurrent processes. By hierarchical decomposition of the net model of the overall system, global and local Petri net models are assigned to the upper level and the lower level controllers, respectively. For the lower level control, individual net models of robots are executed on separate local controllers. The unified net representation for cooperative control is also proposed. Overall control software is implemented and executed on a general hierarchical and distributed control architecture corresponding to the hardware structure of multiple robot systems.

1A1-G10 A Coordinated System of Multiple Robots for Transportation of a Car -iCART- : 1st Report: Multiple Robot Systems Specialized for Transportation of a Car

2008 ◽  
Vol 2008 (0) ◽  
pp. _1A1-G10_1-_1A1-G10_2
Author(s):  
Mitsuru Endo ◽  
Kenji Hirose ◽  
Yasuhisa Hirata ◽  
Kazuhiro Kosuge ◽  
Takashi Kanbayashi ◽  
...  
Keyword(s):  
Multiple Robots ◽  
Robot Systems ◽  
Multiple Robot
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