Navigation of non-communicating autonomous mobile robots with guaranteed connectivity

Robotica ◽  
2013 ◽  
Vol 31 (5) ◽  
pp. 767-776 ◽  
Author(s):  
Ahmet Cezayirli ◽  
Feza Kerestecioğlu
Keyword(s):  
Mobile Robots ◽  
Measurement Errors ◽  
Real Life ◽  
Autonomous Mobile Robots ◽  
Optimal Solutions ◽  
Position Measurement ◽  
Position Information ◽  
Computational Burden ◽  
Group Connectivity ◽  
Explicit Communication

SUMMARYWe consider the connectivity of autonomous mobile robots. The robots navigate using simple local steering rules without requiring explicit communication among themselves. We show that using only position information of neighbors, the group connectivity can be sustained even in the case of bounded position measurement errors and the occlusion of robots by other robots in the group. In implementing the proposed scheme, sub-optimal solutions are invoked to avoid an excessive computational burden. We also discuss the possibility of deadlock which may bring the group to a standstill and show that the proposed methodology avoids such a scenario in real-life settings.

UNIFORM SCATTERING OF AUTONOMOUS MOBILE ROBOTS IN A GRID

2011 ◽  
Vol 22 (03) ◽  
pp. 679-697 ◽  
Author(s):  
LALI BARRIÈRE ◽  
PAOLA FLOCCHINI ◽  
EDUARDO MESA-BARRAMEDA ◽  
NICOLA SANTORO
Keyword(s):  
Mobile Robots ◽  
Scattering Problem ◽  
Autonomous Mobile Robots ◽  
State Machines ◽  
Global Localization ◽  
Localization System ◽  
Constant Size ◽  
Finite State ◽  
Visibility Range ◽  
Explicit Communication

We consider the uniform scattering problem for a set of autonomous mobile robots deployed in a grid network: starting from an arbitrary placement in the grid, using purely localized computations, the robots must move so to reach in finite time a state of static equilibrium in which they cover uniformly the grid. The theoretical quest is on determining the minimal capabilities needed by the robots to solve the problem. We prove that uniform scattering is indeed possible even for very weak robots. The proof is constructive. We present a provably correct protocol for uniform self-deployment in a grid. The protocol is fully localized, collision-free, and it makes minimal assumptions; in particular: (1) it does not require any direct or explicit communication between robots; (2) it makes no assumption on robots synchronization or timing, hence the robots can be fully asynchronous in all their actions; (3) it requires only a limited visibility range; (4) it uses at each robot only a constant size memory, hence computationally the robots can be simple Finite-State Machines; (5) it does not need a global localization system but only orientation in the grid (e.g., a compass); (6) it does not require identifiers, hence the robots can be anonymous and totally identical.

scholarly journals Determining Shape and Size of Personal Space of a Human when Passed by a Robot

2021 ◽  
Author(s):  
Margot M. E. Neggers ◽  
Raymond H. Cuijpers ◽  
Peter A. M. Ruijten ◽  
Wijnand A. IJsselsteijn
Keyword(s):  
Mobile Robots ◽  
Humanoid Robot ◽  
Personal Space ◽  
Human Robot Interaction ◽  
Autonomous Mobile Robots ◽  
Robot Interaction ◽  
Human Comfort ◽  
Navigation Algorithms ◽  
Insight Into ◽  
Shape And Size

AbstractAutonomous mobile robots that operate in environments with people are expected to be able to deal with human proxemics and social distances. Previous research investigated how robots can approach persons or how to implement human-aware navigation algorithms. However, experimental research on how robots can avoid a person in a comfortable way is largely missing. The aim of the current work is to experimentally determine the shape and size of personal space of a human passed by a robot. In two studies, both a humanoid as well as a non-humanoid robot were used to pass a person at different sides and distances, after which they were asked to rate their perceived comfort. As expected, perceived comfort increases with distance. However, the shape was not circular: passing at the back of a person is more uncomfortable compared to passing at the front, especially in the case of the humanoid robot. These results give us more insight into the shape and size of personal space in human–robot interaction. Furthermore, they can serve as necessary input to human-aware navigation algorithms for autonomous mobile robots in which human comfort is traded off with efficiency goals.

Allocating nodes to hubs for minimizing the hubs processing resources: A case study

2019 ◽  
Vol 53 (3) ◽  
pp. 807-827
Author(s):  
Ali Balma ◽  
Mehdi Mrad
Keyword(s):  
Telecommunication Network ◽  
Real Life ◽  
Optimal Solutions ◽  
Total Flow ◽  
Nonlinear Formulation ◽  
Large Size ◽  
Processing Resources ◽  
Reformulation Linearization

This paper addresses the problem of allocating the terminal nodes to the hub nodes in a telecommunication network. Since the flow processing induces some undesirable delay, the objective is to minimize the total flow processed by the hubs. This study focuses on a real life network of the tunisian operator Tunisie Telecom whose operations managers are concerned by the quality of service. We provide three compact formulations that give optimal solutions for networks of large size. In particular, the last two are obtained by applying the Reformulation-Linearization Technique to a nonlinear formulation of the problem. The latter formulation derived within this approach is the most computationally effective, as pointed out by the computational experiments conducted on the real life network of Tunisie Telecom with 110 nodes and 5 hubs. Finally, we discuss and compare between the single allocation and double allocation configurations.

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