Robust cooperative control for a group of mobile robots with quantized information exchange

2013 ◽  
Vol 350 (8) ◽  
pp. 2291-2321 ◽  
Author(s):  
Jawhar Ghommam ◽  
Magdi S. Mahmoud ◽  
Maarouf Saad
Keyword(s):  
Mobile Robots ◽  
Information Exchange ◽  
Cooperative Control

Experimental Validation of Distributed Cooperative Control of Multiple Mobile Robots via Local Information Exchange

2017 ◽  
Vol 8 (2) ◽  
pp. 19-40
Author(s):  
Gregory A Bock ◽  
Ryan T Hendrickson ◽  
Jared Allen Lamkin ◽  
Brittany Dhall ◽  
Jing Wang ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Information Exchange ◽  
Cooperative Control ◽  
Formation Control ◽  
Experimental Testing ◽  
Local Information ◽  
Control Algorithms ◽  
Multiple Mobile Robots ◽  
Kinematic Constraints ◽  
Distributed Cooperative Control

In this paper, we present the experimental testing results of distributed cooperative control algorithms for multiple mobile robots with limited sensing/communication capacity and kinematic constraints. Rendezvous and formation control problems are considered, respectively. To deal with the inherent kinematic constraints with robot model, the input/output linearization via feedback is used to convert the nonlinear robot model into a linear one, and then the distributed cooperative control algorithms are designed via local information exchange among robots. Extensive experiments using Quanser's QBot2 mobile robot platforms are conducted to validate the effectiveness of the proposed distributed cooperative control algorithms. Specifically, the robot's onboard Kinect vision sensor is applied to solve the localization problem, and the information exchange is done through an ad-hoc peer-to-peer wireless TCP/IP connection among neighboring robots. Collision avoidance problem is also addressed based on the utilization of fuzzy logic rules.

Experimental Validation of Distributed Cooperative Control of Multiple Mobile Robots via Local Information Exchange

2020 ◽  
pp. 743-764
Author(s):  
Gregory A Bock ◽  
Ryan T Hendrickson ◽  
Jared Allen Lamkin ◽  
Brittany Dhall ◽  
Jing Wang ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Information Exchange ◽  
Cooperative Control ◽  
Experimental Testing ◽  
Local Information ◽  
Control Algorithms ◽  
Multiple Mobile Robots ◽  
Kinematic Constraints ◽  
Limited Sensing ◽  
Distributed Cooperative Control

In this paper, we present the experimental testing results of distributed cooperative control algorithms for multiple mobile robots with limited sensing/communication capacity and kinematic constraints. Rendezvous and formation control problems are considered, respectively. To deal with the inherent kinematic constraints with robot model, the input/output linearization via feedback is used to convert the nonlinear robot model into a linear one, and then the distributed cooperative control algorithms are designed via local information exchange among robots. Extensive experiments using Quanser's QBot2 mobile robot platforms are conducted to validate the effectiveness of the proposed distributed cooperative control algorithms. Specifically, the robot's onboard Kinect vision sensor is applied to solve the localization problem, and the information exchange is done through an ad-hoc peer-to-peer wireless TCP/IP connection among neighboring robots. Collision avoidance problem is also addressed based on the utilization of fuzzy logic rules.

Synthezis the strucrure of cloud computing system to control of mobile robots group

2016 ◽  
Vol 11 (1) ◽  
pp. 72-80
Author(s):  
O.V. Darintsev ◽  
A.B. Migranov
Keyword(s):  
Cloud Computing ◽  
Mobile Robots ◽  
Distinctive Feature ◽  
Information Exchange ◽  
High Performance ◽  
Computing System ◽  
Control Information ◽  
Cloud Computing System ◽  
Group Control ◽  
Reliability And Robustness

In article one of possible approaches to synthezis of group control of mobile robots which is based on use of cloud computing is considered. Distinctive feature of the offered techniques is adequate reflection of specifics of a scope and the robots of tasks solved by group in architecture of control-information systems, methods of the organization of information exchange, etc. The approach offered by authors allows to increase reliability and robustness of collectives of robots, to lower requirements to airborne computers when saving summary high performance in general.

scholarly journals A novel edge gradient algorithm for multiple mobile robots cooperative mapping in unknown environment

2019 ◽  
Vol 16 (4) ◽  
pp. 172988141986038
Author(s):  
Huang Yiqing ◽  
Wang Hui ◽  
Wei Lisheng ◽  
Gao Wengen ◽  
Ge Yuan
Keyword(s):  
Visual Field ◽  
Mobile Robots ◽  
Information Exchange ◽  
Field Of View ◽  
Gradient Algorithm ◽  
Movement Direction ◽  
Mapping Technique ◽  
Map Building ◽  
Multiple Mobile Robots ◽  
Motion Behavior

This article presented a cooperative mapping technique using a novel edge gradient algorithm for multiple mobile robots. The proposed edge gradient algorithm can be divided into four behaviors such as adjusting the movement direction, evaluating the safety of motion behavior, following behavior, and obstacle information exchange, which can effectively prevent multiple mobile robots falling into concave obstacle areas. Meanwhile, a visual field factor is constructed based on biological principles so that the mobile robots can have a larger field of view when moving away from obstacles. Also, the visual field factor will be narrowed due to the obstruction of the obstacle when approaching an obstacle and the obtained map-building data are more accurate. Finally, three sets of simulation and experimental results demonstrate the performance superiority of the presented algorithm.

Experimental Results of Cooperative Control Applied to Multi-Vessel DP Operations

2013 ◽  
Author(s):  
Asdrubal N. Queiroz Filho ◽  
Eduardo A. Tannuri
Keyword(s):  
Information Exchange ◽  
Cooperative Control ◽  
Limited Range ◽  
Experimental Results ◽  
Relative Distance ◽  
Experimental Setup ◽  
Operational Parameters ◽  
High Level ◽  
Lifting Line ◽  
Offshore Operations

Offshore operations involving several floating units are becoming more frequent nowadays. Such operations are used for sub-sea equipment installation and undersea structures launching, for example. This kind of operations requires a high level of coordination between the vessels, which today is made without the ship’s information exchange, being each ship individually commanded. Therefore, in those cases a cooperative control could be applied, ensuring that the relative distance between the ships are maintained in limited range, controlling operational parameters such as the lifting line traction. The benefits of this control are shown when compared to the non cooperative control by means of a experimental setup with two DP vessels.

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