A Discrete Adaptive Auction-Based Algorithm for Task Assignments of Multi-Robot Systems

2014 ◽  
Vol 26 (3) ◽  
pp. 369-376 ◽  
Author(s):  
Xuefeng Dai ◽  
◽  
Zhifeng Yao ◽  
Yan Zhao ◽  
◽  
...  
Keyword(s):  
Mobile Robots ◽  
Performance Index ◽  
Production Cost ◽  
Performance Measure ◽  
Index Formula ◽  
Multirobot Systems ◽  
Exploration Time ◽  
A Value ◽  
Robot Systems ◽  
Identical Performance

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260003/10.jpg"" width=""300"" />Teammates trajectories</span></div> For reasons of production cost and differences in manufacturing dates for mobile robots, individual robots on a robot team have different processing, movement, and detection abilities. To maximize the potential ability of individual robots and minimize overall exploration time in unknown environments, this paper proposes a novel discrete adaptive auction-based algorithm for coordinating multirobot systems (MRSs). A utility calculation scheme that takes into account the dispersion of teammates is presented, followed by an identical performance index formula that converges to a value for measuring differences in exploration efficiency. The performance measure is taken into account in calculating bids for exploration tasks. We compared our results to other exploration strategies by simulation and results show improved exploration time. </span>

scholarly journals Multipotent Systems: Combining Planning, Self-Organization, and Reconfiguration in Modular Robot Ensembles

Sensors ◽  
2018 ◽  
Vol 19 (1) ◽  
pp. 17 ◽  
Author(s):  
Oliver Kosak ◽  
Constantin Wanninger ◽  
Alwin Hoffmann ◽  
Hella Ponsar ◽  
Wolfgang Reif
Keyword(s):  
Mobile Robots ◽  
Industrial Applications ◽  
Multirobot Systems ◽  
Reference Architecture ◽  
Simulation Environment ◽  
Sensors And Actuators ◽  
Robot Systems ◽  
First Results ◽  
System Properties ◽  
High Degree

Mobile multirobot systems play an increasing role in many disciplines. Their capabilities can be used, e.g., to transport workpieces in industrial applications or to support operational forces in search and rescue scenarios, among many others. Depending on the respective application, the hardware design and accompanying software of mobile robots are of various forms, especially for integrating different sensors and actuators. Concerning this design, robots of one system compared to each other can be classified to exclusively be either homogeneous or heterogeneous, both resulting in different system properties. While homogeneously configured systems are known to be robust against failures through redundancy but are highly specialized for specific use cases, heterogeneously designed systems can be used for a broad range of applications but suffer from their specialization, i.e., they can only hardly compensate for the failure of one specialist. Up to now, there has been no known approach aiming to unify the benefits of both these types of system. In this paper, we present our approach to filling this gap by introducing a reference architecture for mobile robots that defines the interplay of all necessary technologies for achieving this goal. We introduce the class of robot systems implementing this architecture as multipotent systems that bring together the benefits of both system classes, enabling homogeneously designed robots to become heterogeneous specialists at runtime. When many of these robots work together, we call the structure of this cooperation an ensemble. To achieve multipotent ensembles, we also integrate reconfigurable and self-descriptive hardware (i.e., sensors and actuators) in this architecture, which can be freely combined to change the capabilities of robots at runtime. Because typically a high degree of autonomy in such systems is a prerequisite for their practical usage, we also present the integration of necessary mechanisms and algorithms for achieving the systems’ multipotency. We already achieved the first results with robots implementing our approach of multipotent systems in real-world experiments as well as in a simulation environment, which we present in this paper.

scholarly journals Safe Path Planning Algorithms for Mobile Robots Based on Probabilistic Foam

Sensors ◽  
2021 ◽  
Vol 21 (12) ◽  
pp. 4156
Author(s):  
Luís B. P. Nascimento ◽  
Dennis Barrios-Aranibar ◽  
Vitor G. Santos ◽  
Diego S. Pereira ◽  
William C. Ribeiro ◽  
...  
Keyword(s):  
Path Planning ◽  
Mobile Robots ◽  
Configuration Space ◽  
Autonomous Robot ◽  
Breadth First Search ◽  
Propagation Process ◽  
Robot Systems ◽  
And Performance ◽  
Safe Path ◽  
High Clearance

The planning of safe paths is an important issue for autonomous robot systems. The Probabilistic Foam method (PFM) is a planner that guarantees safe paths bounded by a sequence of structures called bubbles that provides safe regions. This method performs the planning by covering the free configuration space with bubbles, an approach analogous to a breadth-first search. To improve the propagation process and keep the safety, we present three algorithms based on Probabilistic Foam: Goal-biased Probabilistic Foam (GBPF), Radius-biased Probabilistic Foam (RBPF), and Heuristic-guided Probabilistic Foam (HPF); the last two are proposed in this work. The variant GBPF is fast, HPF finds short paths, and RBPF finds high-clearance paths. Some simulations were performed using four different maps to analyze the behavior and performance of the methods. Besides, the safety was analyzed considering the new propagation strategies.

Developing an Outsourcing Partner Selection Model for Process with Two-Sided Specification Using Capability Index and Manufacturing Time Performance Index

2019 ◽  
Vol 26 (03) ◽  
pp. 1950015 ◽  
Author(s):  
Kuen-Suan Chen ◽  
Tsang-Chuan Chang ◽  
Yun-Tsan Lin
Keyword(s):  
Performance Index ◽  
Business Models ◽  
Partner Selection ◽  
Selection Model ◽  
Index Formula ◽  
Time Performance ◽  
Capability Index ◽  
Point Estimates ◽  
Manufacturing Time

In the face of fierce global competition, firms are outsourcing important but nonessential tasks to external professional companies. Corporations are also turning from competitive business models to cooperative strategic partnerships in hopes of swiftly responding to consumer needs and enhancing overall efficiency and industry competitiveness. This research developed an outsourcing partner selection model in hopes of helping firms select better outsourcing partners for long-term collaborations. Process quality and manufacturing time are vital when evaluating outsourcing partner. We therefore used process capability index [Formula: see text] and manufacturing time performance index [Formula: see text] in the proposed model. Sample data from random samples are needed to calculate the point estimates of indices, however, it is impossible to obtain a sample with a structure completely identical to that of the population, which means that sampling generates unavoidable sampling errors. The reliability of point estimates are also uncertain, which inevitably leads to misjudgment in some cases. Thus, to reduce estimate errors and increase assessment reliability, we calculated the [Formula: see text]% confidence intervals of the indices [Formula: see text] and [Formula: see text], then constructed the joint confidence region of [Formula: see text] and [Formula: see text] to develop an outsourcing partner selection model that will help firms select better outsourcing partners for long-term collaborations. We also provide a case as an illustration of how the proposed selection model is implemented.

Path Following System for Cooperative Mobile Robots

2010 ◽  
Vol 166-167 ◽  
pp. 161-166
Author(s):  
Ionut Dinulescu ◽  
Dorin Popescu ◽  
Mircea Nitulescu ◽  
Alice Predescu
Keyword(s):  
Artificial Intelligence ◽  
Mobile Robots ◽  
Path Following ◽  
Path Generation ◽  
Cooperative Robots ◽  
Generation System ◽  
Robot Systems ◽  
Simulation Results ◽  
Trajectory Generator

Recent advances in the domains of social and life artificial intelligence have constituted the basis for a new discipline that studies cooperation in multi-robot systems and its utility in applications where some tasks cannot be carried out by a single robot. This paper introduces a trajectory generator which is used for determination of the most appropriate trajectory which a robot needs to track in order to perform different tasks specific to cooperative robots, such as moving in a given formation or pushing an object to a given destination. Different algorithms are described in this paper, starting from simple polyline and circular paths to complex Bezier trajectories. Simulation results of the proposed path generation system are also provided, along with the description of its implementation on real mobile robots. An implementation of real robots is also presented in this paper.

FEASIBILITY ANALYSIS OF CAPITAL CHILLIES IN SURALAGA DISTRICT EAST LOMBOK REGENCY

2021 ◽  
Vol 1 (2) ◽  
pp. 60-69
Author(s):  
Saiful wathan Saiful ◽  
Rini Endang Prasetyowati ◽  
Muhammad Anwar
Keyword(s):  
Random Sampling ◽  
Production Cost ◽  
Food Industry ◽  
Sampling Method ◽  
Raw Materials ◽  
Survey Techniques ◽  
State Revenue ◽  
A Value ◽  
Production Value ◽  
Quota Sampling

Cayenne pepper is one of the horticultural commodities that can be relied upon to increase farmers' income and state revenue. At first, cayenne pepper was cultivated to meet household consumption needs, namely as vegetables and cooking spices. In addition, cayenne pepper is also consumed by food industry companies that require raw materials for cayenne pepper, for example chili sauce or just a complement to cooking spices. This research was conducted in Suralaga Subdistrict, East Lombok Regency in 2021, from 15 villages 3 villages were taken using a purposive sampling method including Anjani Village, Tebaban Village, Bagek Payung Village, the number of farmers was determined by Quota Sampling as many as 30 people. Proportional Random Sampling and in this study used descriptive methods while data collection was carried out using survey techniques. The objectives of this study are: (1) To determine the costs and income of cayenne pepper farming in Suralaga District, East Lombok Regency. (2) To determine the feasibility of cayenne pepper farming in Suralaga District, East Lombok Regency. (3) To find out the constraints faced by farmers in cayenne pepper farming in Suralaga District, East Lombok Regency. Based on the results of the research, it can be concluded that: (1) Financially, the production cost of Rawit Chili in Suralaga District, East Lombok Regency is Rp. 12,524,018/LLG and Rp. 25,787,271/Ha. And the production value is Rp.18.691.000/LLG and Rp38.485.244/Ha. (2) Farmer's income obtained is Rp.6.166.982/LLG and Rp.12.697.973 /Ha. From the results of the calculation of the R/C Ratio, a value of Rp. 1.4 is obtained, which is greater than 1. This indicates that the Chili Rawit farming in Suralaga District, East Lombok Regency is feasible.

scholarly journals Biologically-Inspired Learning and Adaptation of Self-Evolving Control for Networked Mobile Robots

2019 ◽  
Vol 9 (5) ◽  
pp. 1034 ◽  
Author(s):  
Sendren Sheng-Dong Xu ◽  
Hsu-Chih Huang ◽  
Tai-Chun Chiu ◽  
Shao-Kang Lin
Keyword(s):  
Mobile Robots ◽  
Formation Control ◽  
Kinematic Model ◽  
Control Law ◽  
Biologically Inspired ◽  
Modified Genetic Algorithm ◽  
Robot Systems ◽  
Learning And Adaptation ◽  
Self Learning ◽  
Adaptation Method

This paper presents a biologically-inspired learning and adaptation method for self-evolving control of networked mobile robots. A Kalman filter (KF) algorithm is employed to develop a self-learning RBFNN (Radial Basis Function Neural Network), called the KF-RBFNN. The structure of the KF-RBFNN is optimally initialized by means of a modified genetic algorithm (GA) in which a Lévy flight strategy is applied. By using the derived mathematical kinematic model of the mobile robots, the proposed GA-KF-RBFNN is utilized to design a self-evolving motion control law. The control parameters of the mobile robots are self-learned and adapted via the proposed GA-KF-RBFNN. This approach is extended to address the formation control problem of networked mobile robots by using a broadcast leader-follower control strategy. The proposed pragmatic approach circumvents the communication delay problem found in traditional networked mobile robot systems where consensus graph theory and directed topology are applied. The simulation results and numerical analysis are provided to demonstrate the merits and effectiveness of the developed GA-KF-RBFNN to achieve self-evolving formation control of networked mobile robots.

scholarly journals Adaptive Group Formation in Multirobot Systems

2013 ◽  
Vol 2013 ◽  
pp. 1-15 ◽  
Author(s):  
Ahmed Wagdy ◽  
Alaa Khamis
Keyword(s):  
Task Complexity ◽  
Group Formation ◽  
Hybrid Approach ◽  
Multirobot Systems ◽  
Benchmark Problems ◽  
Team Members ◽  
Dynamic Leadership ◽  
Robot Systems ◽  
Finite State ◽  
Virtual Grid

Multirobot systems (MRSs) are capable of solving task complexity, increasing performance in terms of maximizing spatial/temporal/radio coverage or minimizing mission completion time. They are also more reliable than single-robot systems as robustness is increased through redundancy. Many applications such as rescue, reconnaissance, and surveillance and communication relaying require the MRS to be able to self-organize the team members in a decentralized way. Group formation is one of the benchmark problems in MRS to study self-organization in these systems. This paper presents a hybrid approach to group formation problem in multi-robot systems. This approach combines the efficiency of the cellular automata as finite state machine, the interconnectivity of the virtual grid and its bonding technique, and last but not least the decentralization of the adaptive dynamic leadership.

The State of the Art of Mobile Robots on a Solid Surface

2015 ◽  
Vol 783 ◽  
pp. 57-68
Author(s):  
Himanshu R. Rasam ◽  
Tadeusz Mikolajczyk ◽  
Danil Yurievich Pimenov
Keyword(s):  
Mobile Robots ◽  
Mobile Robotics ◽  
Relevant Literature ◽  
The State ◽  
Future Application ◽  
Research Activity ◽  
Research Issues ◽  
Robot Systems ◽  
Object Transport ◽  
State Of Research

This paper presents an overview of the state of art of mobile robots presenting aspects of their current level of sophistication, fields mobile robots are being presently used, the future application and scope of mobile robots. Classifying the primary research topics of multi-robot systems into seven major categories (Biological inspirations, architecture, localization/mapping/exploration, object transport and manipulation, motion co-ordination, reconfigurable and learning robot systems, vision), we discuss the current state of research in these areas. An attempt to cover the points for which a general agreement has emerged within the scientific domain, are then presented, followed by a discussion of alternative approaches and currently unsolved problems. This paper also reviews the most relevant literature and previous research activity regarding mobile robotics. We conclude by identifying more topics of scientific consensus, open research issues and a discussion of some application areas where mobile robots could be used with existing technology.

Sign in / Sign up

Export Citation Format

Share Document