Development of the Research Stand for Exploration of Models and Algorithms for Group Control of Ground-Based Mobile Robots

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.

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Mobile Robots Characterized by Kinematic and Dynamic Equations: Motion Planning, Trajectory Tracking, and Group Control

ASME 2008 Dynamic Systems and Control Conference, Parts A and B ◽

10.1115/dscc2008-2104 ◽

2008 ◽

Cited By ~ 3

Author(s):

Amit Ailon

Keyword(s):

Mathematical Model ◽

Motion Planning ◽

Mobile Robots ◽

Dynamic Equations ◽

Kinematics And Dynamics ◽

Control Problems ◽

Reference Trajectory ◽

Numerical Examples ◽

Group Control ◽

The Mathematical Model

The paper solves some control problems of mobile robots as both kinematics and dynamics are intertwined in the mathematical model. The problems of driving the vehicle to a desired configuration in a specified time and tracking a reference trajectory are considered. The control problems associated with motion in convoy and rigid formations of a group of vehicles are studied and some results are demonstrated by numerical examples.

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Analysis of ways to secure group control for autonomous mobile robots

Proceedings of the 10th International Conference on Security of Information and Networks - SIN '17 ◽

10.1145/3136825.3136879 ◽

2017 ◽

Cited By ~ 8

Author(s):

Alexander Basan ◽

Elena Basan ◽

Oleg Makarevich

Keyword(s):

Mobile Robots ◽

Autonomous Mobile Robots ◽

Group Control

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Method of the Dynamic Reconfiguration of a Group Control System for Mobile Robots

10.1109/rusautocon52004.2021.9537536 ◽

2021 ◽

Author(s):

Alexey V. Kozov ◽

Tamara M. Volosatova ◽

Alexander A. Tachkov

Keyword(s):

Control System ◽

Mobile Robots ◽

Dynamic Reconfiguration ◽

Group Control

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MODELS AND DESIGNING METHODS FOR THE DYNAMICALLY RECONFIGURABLE GROUP CONTROL SYSTEM FOR MOBILE ROBOTS

Автоматизация процессов управления ◽

10.35752/1991-2927-2021-1-63-130-139 ◽

2021 ◽

Vol 63 (1) ◽

pp. 130-139

Author(s):

Aleksei V. Kozov ◽

Keyword(s):

Control System ◽

Mathematical Models ◽

Mobile Robots ◽

Computer Aided Design ◽

Discrete Event ◽

Variable Structure ◽

Design Methods ◽

Variable Structure Systems ◽

Dynamically Reconfigurable ◽

Group Control

High adaptability is an important requirement for the control system over a group of mobile robots operating in a nondeterministic changing environment. The group control system must ensure that the group task is completed when the structure of the group or the environment changes. Such adaptability can be achieved through dynamic reconfiguration of the control system. The article discusses the mathematical models of a dynamically reconfigurable system from the standpoint of computer-aided design. A review of mathematical models of variable structure system, reconfigurable control systems and their design methods is presented. The paper deals with set-theoretic, analytical, discrete-event models of variable structure systems and methodologies of designing reconfigurable systems. It is shown that the existing design methods do not fully provide the required adaptability of designed group control system. The paper compares the group control system and the reconfigurable multiprocessor computing system and shows how to increase adaptability and autonomy of designed control system using principles of reconfigurable computing systems designing.

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