Mapping, localization and motion planning in mobile multi-robotic systems

Robotica ◽  
2012 ◽  
Vol 31 (1) ◽  
pp. 1-23 ◽  
Author(s):  
William Rone ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Motion Planning ◽  
System Design ◽  
Motion Control ◽  
State Of The Art ◽  
Simultaneous Localization And Mapping ◽  
Robotic System ◽  
The State ◽  
Robotic Systems ◽  
System Research ◽  
Localization And Mapping

SUMMARYAs researchers have pushed the limits of what can be accomplished by a single robot operating in a known or unknown environment, a greater emphasis has been placed on the utilization of mobile multi-robotic systems to accomplish various objectives. In transitioning from a robot-centric approach to a system-centric approach, considerations must be made for the computational and communicative aspects of the group as a whole, in addition to electromechanical considerations of individual robots. This paper reviews the state-of-the-art of mobile multi-robotic system research, with an emphasis on the confluence of mapping, localization and motion control of robotic system. Methods that compose these three topics are presented, including areas of overlap, such as integrated exploration and simultaneous localization and mapping. From these methods, an analysis of benefits, challenges and tradeoffs associated with multi-robotic system design and use are presented. Finally, specific applications of multi-robotic systems are also addressed in various contexts.

A Review: Simultaneous Localization and Mapping Algorithms

2015 ◽  
Vol 73 (2) ◽  
Author(s):  
Saif Eddine Hadji ◽  
Suhail Kazi ◽  
Tang Howe Hing ◽  
Mohamed Sultan Mohamed Ali
Keyword(s):  
Autonomous Navigation ◽  
State Of The Art ◽  
Simultaneous Localization And Mapping ◽  
The State ◽  
Sensor Data ◽  
Current Position ◽  
Mapping Algorithms ◽  
The Past ◽  
Localization And Mapping ◽  
Environmental Map

Simultaneous Localization and Mapping (SLAM) involves creating an environmental map based on sensor data, while concurrently keeping track of the robot’s current position. Efficient and accurate SLAM is crucial for any mobile robot to perform robust navigation. It is also the keystone for higher-level tasks such as path planning and autonomous navigation. The past two decades have seen rapid and exciting progress in solving the SLAM problem together with many compelling implementations of SLAM methods. In this paper, we will review the two common families of SLAM algorithms: Kalman filter with its variations and particle filters. This article complements other surveys in this field by reviewing the representative algorithms and the state-of-the-art in each family. It clearly identifies the inherent relationship between the state estimation via the KF versus PF techniques, all of which are derivations of Bayes rule.

A Simplistic Approach for Lightweight Multi-Agent SLAM Algorithm

2020 ◽  
Vol 11 (3) ◽  
pp. 67-83
Author(s):  
Anton Filatov ◽  
Kirill Krinkin
Keyword(s):  
State Of The Art ◽  
Simultaneous Localization And Mapping ◽  
The State ◽  
Limited Resources ◽  
Challenging Problem ◽  
Multiple Agents ◽  
Localization And Mapping ◽  
Multi Agent ◽  
Slam Algorithm ◽  
Computational Resources

Limitation of computational resources is a challenging problem for moving agents that launch such algorithms as simultaneous localization and mapping (SLAM). To increase the accuracy on limited resources one may add more computing agents that might explore the environment quicker than one and thus to decrease the load of each agent. In this article, the state-of-the-art in multi-agent SLAM algorithms is presented, and an approach that extends laser 2D single hypothesis SLAM for multiple agents is introduced. The article contains a description of problems that are faced in front of a developer of such approach including questions about map merging, relative pose calculation, and roles of agents.

Problem of angular motion control of a non-cooperative on-orbit service object

2021 ◽  
Vol 2021 (1) ◽  
pp. 37-50
Author(s):  
A.A. Fokov ◽  
◽  
O.P. Savchuk ◽  
Keyword(s):  
Motion Control ◽  
State Of The Art ◽  
Object Motion ◽  
The State ◽  
Angular Motion ◽  
Motion Parameter ◽  
Rotary Motion ◽  
Parameter Determination ◽  
Service Object

The realization of existing projects of on-orbit servicing and the development of new ones is a steady trend in the development of space technology. In many cases, on-orbit service clients are objects that exhibit an undesired rotary motion, which renders their servicing difficult or impossible. The problem of on-orbit service object motion control determines the topicality of studies aimed not only at the refinement of methods and algorithms of controlling both the translational and the rotary motion of an object, but also at the development and refinement of methods of onboard determination of the object – service spacecraft relative motion parameters. This paper overviews the state of the art of the problem of object motion parameter determination in on-orbit servicing tasks and existing methods of object motion control and angular motion damping and specifies lines of further investigations into the angular motion control of non-cooperative service objects. Based on the analysis of publications on the subject, the applicability of onboard means for object motion parameter determination is characterized. The analysis of the applicability of methods of remote determination of the parameters of an unknown non-cooperative object from a service spacecraft shows that they are at the research stage. The input data for the verification of methods proposed in the literature were simulated or taken from ground experiments or previous missions. Contact and contactless methods of angular motion control of non-cooperative on-orbit service objects are considered. From the state of the art of investigations into the contactless motion control of on-orbit service objects it may be concluded that the most advanced contactless method of motion control of an on-orbit service object is a technology based on the use of an ion beam directed to the object from an electrojet engine onboard a service spacecraft. Lines of further investigations into non-cooperative object motion control are proposed.

Prototyping of Robotic Systems in Surgical Procedures and Automated Manufacturing Processes

2012 ◽  
pp. 356-378
Author(s):  
Zheng (Jeremy) Li
Keyword(s):  
Modeling And Simulation ◽  
System Design ◽  
Surgical Procedures ◽  
Biomedical Engineering ◽  
Robotic System ◽  
Robotic Systems ◽  
Manufacturing Processes ◽  
Automated Manufacturing ◽  
Design Development ◽  
Computer Aided

The prototyping and implementation of robotic system is a scientific and technological integrating of robotic system design, development, testing, and application. This chapter describes the recent development and applications of robotic systems to surgery procedures in biomedical engineering and automated manufacturing processes in industry. It includes the design and development, computer-aided modeling and simulation, prototype analysis, and testing of robotic systems in these two different applications.

Ubiquitous Learning Supporting Systems

2015 ◽  
pp. 202-225
Author(s):  
Elena B. Durán ◽  
Margarita Álvarez
Keyword(s):  
Information System ◽  
State Of The Art ◽  
The State ◽  
System Research ◽  
Ubiquitous Learning ◽  
Information System Research ◽  
The Future ◽  
National University ◽  
The Right ◽  
Research Institute

Ubiquitous learning features intuitive ways of identifying appropriate learning collaborators and right learning contents and services at the right place and at the right time. Consequently, there are many aspects that must be considered in designing computing applications that support this kind of learning. In this chapter, ubiquitous learning is introduced and characterized, the challenges that must be faced by those in charge of designing and developing such applications are reviewed, and the state of the art of this recently initiated line of research at the Informatics and Information System Research Institute of the National University of Santiago del Estero are presented. The developments achieved to date as well as the future guidelines are also shown.

The Energy Efficient Engine (E3): Advancing the State of the Art

1980 ◽  
Author(s):  
W. B. Gardner ◽  
D. E. Gray
Keyword(s):  
System Design ◽  
Energy Efficient ◽  
State Of The Art ◽  
The State ◽  
Propulsion System ◽  
Component Technology ◽  
The Status

The NASA sponsored E3 Program, being conducted by Pratt & Witney Aircraft, is described, including program objectives and goals. The evolution of the Flight Propulsion System design and the related work of the aircraft manufacturers is discussed. The status of the component technology substantiation program is summarized.

HiL-Simulator für den industriellen „Griff in die Kiste”*/HiL simulator for industrial bin picking

2017 ◽  
Vol 107 (10) ◽  
pp. 767-772
Author(s):  
S. Fur ◽  
C. Scheifele ◽  
A. Pott ◽  
A. Prof. Verl
Keyword(s):  
Object Detection ◽  
Motion Planning ◽  
Motion Control ◽  
Software Tools ◽  
Robotic Systems ◽  
Intelligent Algorithms ◽  
Simulation Based ◽  
Bin Picking

Beim „Griff in die Kiste“ kommen Robotersysteme mit intelligenten Algorithmen für die Objekterkennung, Bewegungsplanung und Bewegungssteuerung zum Einsatz. Auf dem Markt gibt es derzeit verschiedene Softwaretools, die sich mit der Steuerung solcher Systeme beschäftigen. Um die steigende Komplexität zu beherrschen und die Auslegung der Systeme zu optimieren, wird ein simulationsgestütztes Werkzeug zur simulationsbasierten Inbetriebnahme benötigt. Dieser Beitrag stellt ein Konzept für eine umfassende virtuelle Absicherung des industriellen „Griffs in die Kiste“ vor.   Robotic systems with intelligent algorithms for object detection, motion planning and motion control are used in bin picking. Various software tools which deal with the control of such systems, are available on the market. To manage the increasing complexity and to optimize the design of the systems, a simulation-based tool is required for simulation-based commissioning. This paper presents a concept for a comprehensive virtual security solution for industrial bin picking.

Marine Coal-Fired Boilers—State of the Art

1983 ◽  
Vol 20 (01) ◽  
pp. 26-34
Author(s):  
Robert B. Hedges
Keyword(s):  
System Design ◽  
State Of The Art ◽  
The State ◽  
The Past ◽  
Design Philosophy ◽  
Marine Boiler ◽  
Short Time ◽  
Economic Considerations

Owing to economic considerations, there has been renewed interest in the use of coal as a shipboard fuel. To utilize coal aboard ship again required only the application of technology developed and proven ashore over the past 30 years since coal was last used extensively at sea. The development of a modern coal-fired marine boiler was thus possible in a relatively short time. The paper discusses the state of the art of marine coal-fired boilers, including economics, alternative firing systems, boiler performance, design philosophy, and system design.

Advances in Forensic Geophysics

2022 ◽  
pp. 15-36
Author(s):  
Elhoucine Essefi
Keyword(s):  
Magnetic Susceptibility ◽  
State Of The Art ◽  
The State ◽  
Efficient Tool ◽  
New Techniques ◽  
Buried Objects ◽  
Localization And Mapping ◽  
Pollution Detection ◽  
Environmental Crimes

Traditionally, forensic geophysics involves the study, search, localization, and mapping of buried objects or elements within soil, buildings, or water using geophysics tools for legal purposes. Recently, with the evolution of environmental crimes, forensic geophysics gave special care to detection, location, and quantification of polluting products. New techniques including the magnetic susceptibility have emerged to investigate this type of crimes. After discussing the state of the art of forensic geophysics, this chapter proposed the magnetic susceptibility as an efficient tool of environmental crimes detection. A case study of pollution detection was proposed from Tunisia. Being a fast and cheap technique, magnetic surveys represent a real promise for environmental forensic geophysics.

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