Ontology-based collaboration in multi-robot system: Approach and case study

Author(s):  
Alexander Smirnov ◽  
Alexey Kashevnik ◽  
Sergey Mikhailov ◽  
Mikhail Mironov ◽  
Mikhail Petrov
Author(s):  
Xuefeng Dai ◽  
Jiazhi Wang ◽  
Dahui Li ◽  
Yanchun Wang

Multi-robot systems have many potential applications; however, the available results for coordination were based on qualitative information. Fuzzy logic reasoning has a feature of human being thinking, so a novel coordinated algorithm is proposed. The algorithm utilizes sharing sensing information of rooms and semantic robots to coordinating robots in a structured environment exploration. The approach divides all teammate robots into two classes according to robot exploration performance, and divides rooms into large, medium and small ones according to estimations of the individual areas. On the purpose of minimizing exploration time of the system, the reasoning coordination assigns large room to good performance robot, and vice versa. A parameter update law is introduced for fuzzy membership functions. Finally, the results are validated by computer simulations for a structured environment.


Author(s):  
Nurul Nadjmi

Kepulauan Riau merupakan provinsi yang terdiri dari beberapa pulau diantaranya Pulau Batam, Pulau Bintan dan Pulau Karimun. Modal sosial merupakan serangkaian nilai dan norma informal yang dimiliki oleh kelompok masyarat dalam membagun kerjasamanya. Lingkup penelitian pada pembahasan ini adalah terfokus pada pengaruh modal sosial terhadap perkembangan pariwisata di Kepulauan Riau dalam hal ini Pulau Batam, Pulau Bintan, dan Pulau Karimun. Metode penelitian yang digunakan dalam penelitian ini adalah penelitian deskriptif kualitatif. Penelitian ini dikondisikan sebagai penelitian kualitatif melalui strategi studi kasus. Sistem pendekatan yang digunakan juga merupakan pendekatan deskriptif analitik. Melakukan pengamatan langsung, mengumpulkan data-data kemudian menghubungkannya dengan kajian teori yang digunakan. Lokus penelitian ini terdapat di Kepulauan Riau dengan melihat pengaruh modal sosial pada perkembangan pariwisata di ketiga pulau yaitu Pulau Batam, Pulau Bintan dan Pulau Karimun. Berdasarkan hasil survey yang saya lakukan di Kepulauan Riau, terutama pada ketiga pulau yaitu Pulau Batam, Pulau Bintan, dan Pulau Karimun, dari ketiga pulau tersebut ternyata pada Pulau Karimun perkembangan pariwisatanya tidak terlalu berkembang karena masyarakat yang tidak menerima adanya wisatawan terutama wisatawan mancanegara. Riau Islands is a province consisting of several islands including Batam Island, Bintan Island and Karimun Island. Social capital is a set of informal values ​​and norms that are owned by community groups in building cooperation. The scope of research in this discussion is focused on the influence of social capital on the development of tourism in the Riau Islands, in this case Batam Island, Bintan Island, and Karimun Island. The research method used in this research is descriptive qualitative research. This research is conditioned as qualitative research through a case study strategy. The system approach used is also a descriptive analytic approach. Make direct observations, collect data and then relate it to the study of the theories used. The locus of this research is in the Riau Islands by looking at the influence of social capital on the development of tourism in the three islands, namely Batam Island, Bintan Island and Karimun Island. Based on the results of a survey I conducted in the Riau Islands, especially on the three islands, namely Batam Island, Bintan Island, and Karimun Island, of the three islands, it turns out that on Karimun Island the development of tourism is not very developed because people do not accept tourists, especially foreign tourists.


2021 ◽  
Vol 11 (2) ◽  
pp. 546
Author(s):  
Jiajia Xie ◽  
Rui Zhou ◽  
Yuan Liu ◽  
Jun Luo ◽  
Shaorong Xie ◽  
...  

The high performance and efficiency of multiple unmanned surface vehicles (multi-USV) promote the further civilian and military applications of coordinated USV. As the basis of multiple USVs’ cooperative work, considerable attention has been spent on developing the decentralized formation control of the USV swarm. Formation control of multiple USV belongs to the geometric problems of a multi-robot system. The main challenge is the way to generate and maintain the formation of a multi-robot system. The rapid development of reinforcement learning provides us with a new solution to deal with these problems. In this paper, we introduce a decentralized structure of the multi-USV system and employ reinforcement learning to deal with the formation control of a multi-USV system in a leader–follower topology. Therefore, we propose an asynchronous decentralized formation control scheme based on reinforcement learning for multiple USVs. First, a simplified USV model is established. Simultaneously, the formation shape model is built to provide formation parameters and to describe the physical relationship between USVs. Second, the advantage deep deterministic policy gradient algorithm (ADDPG) is proposed. Third, formation generation policies and formation maintenance policies based on the ADDPG are proposed to form and maintain the given geometry structure of the team of USVs during movement. Moreover, three new reward functions are designed and utilized to promote policy learning. Finally, various experiments are conducted to validate the performance of the proposed formation control scheme. Simulation results and contrast experiments demonstrate the efficiency and stability of the formation control scheme.


2021 ◽  
Vol 11 (4) ◽  
pp. 1448
Author(s):  
Wenju Mao ◽  
Zhijie Liu ◽  
Heng Liu ◽  
Fuzeng Yang ◽  
Meirong Wang

Multi-robots have shown good application prospects in agricultural production. Studying the synergistic technologies of agricultural multi-robots can not only improve the efficiency of the overall robot system and meet the needs of precision farming but also solve the problems of decreasing effective labor supply and increasing labor costs in agriculture. Therefore, starting from the point of view of an agricultural multiple robot system architectures, this paper reviews the representative research results of five synergistic technologies of agricultural multi-robots in recent years, namely, environment perception, task allocation, path planning, formation control, and communication, and summarizes the technological progress and development characteristics of these five technologies. Finally, because of these development characteristics, it is shown that the trends and research focus for agricultural multi-robots are to optimize the existing technologies and apply them to a variety of agricultural multi-robots, such as building a hybrid architecture of multi-robot systems, SLAM (simultaneous localization and mapping), cooperation learning of robots, hybrid path planning and formation reconstruction. While synergistic technologies of agricultural multi-robots are extremely challenging in production, in combination with previous research results for real agricultural multi-robots and social development demand, we conclude that it is realistic to expect automated multi-robot systems in the future.


Author(s):  
Mirko Daniele Comparetti ◽  
Elena De Momi ◽  
Alberto Vaccarella ◽  
Matthias Riechmann ◽  
Giancarlo Ferrigno
Keyword(s):  

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