scholarly journals Perancangan Kendali Formasi pada Multi-Robot Roda Omni dengan Kemampuan Menghindari Tabrakan

2021 ◽  
Vol 10 (4) ◽  
pp. 375-382
Author(s):  
Faisal Wahab
Keyword(s):  
Mobile Robot ◽  
Layer Behavior ◽  
Multi Robot

Pada makalah ini dirancang sebuah kendali formasi terdistribusi menggunakan multi-robot roda omni (Omni Directional Wheel Mobile Robot, OMR) dengan kemampuan menghindari tabrakan antar OMR saat membentuk sebuah formasi. Kendali formasi menggunakan algoritme konsensus yang terdiri atas empat buah layer, yaitu layer tracking, layer konsensus, layer behavior, serta layer fisik robot. Layer tracking digunakan untuk mengarahkan posisi OMR pada virtual center yang telah ditentukan. Pada layer konsensus dirancang pengendali pada tingkat robot. Pengendali ini merupakan penjabaran dari algoritme konsensus. Layer behavior digunakan untuk menambah metode penghindar tabrakan antar OMR saat membentuk formasi. Penghindar rintangan menggunakan metode Stipanovic. Pada layer fisik robot, digunakan OMR dengan konfigurasi tiga buah roda omni. OMR yang digunakan berjumlah empat buah. Pengendali yang telah dirancang disimulasikan dengan menggunakan peranti lunak MATLAB. Hasil simulasi menunjukkan bahwa pengendali yang diterapkan pada OMR telah berhasil membentuk formasi yang diinginkan, yaitu persegi dan belah ketupat, serta dalam perjalanan membentuk formasi tersebut, setiap OMR dapat menjaga jarak sehingga tidak terjadi tabrakan dengan berbagai topologi komunikasi dan bentuk formasi.

An Efficient Cloud Framework for Multi-Robot System Management

2021 ◽  
Author(s):  
Raihan Kabir ◽  
Yutaka Watanobe ◽  
Keita Nakamura ◽  
Rashedul Islam ◽  
Keitaro Naruse
Keyword(s):  
Data Analysis ◽  
Mobile Robot ◽  
Knowledge Sharing ◽  
Resource Sharing ◽  
Cloud Service ◽  
Management Communication ◽  
Database Model ◽  
Cloud Database ◽  
Cloud Framework ◽  
Multi Robot

Efficient knowledge sharing, computation load minimization, and collision-free movement are very important issues in the field of multi-robot automation. Several cloud robot architectures have been investigated to fulfill these requirements. However, the performance of the cloud-robot architectures created to date are suboptimal due to the lack of efficient data management for multi-robotic systems. With this point in mind, this paper proposes an efficient cloud multi-robot framework with cloud database model for mobile robot applications to facilitate multi-robot management, communication, and resource sharing. In this proposed architecture, the cloud framework is comprised with cloud data analysis, cloud database management, and cloud service management. The data analysis serves different data processing and decision-making tasks for generating the next robot action based on robot sensors’ data with the help of a data access components layer. A multistage cloud database model distributes, stores, and accesses different categories of data related to robot sensors and environments. And cloud service facilitates multi-robot management, communication, and resource sharing in the cloud framework. Additionally, as a use case, a cloud-based convolutional neural network (CNN) model is introduced for learning and recognizing robot application data. The obtained results of our tests indicate that the proposed cloud-robot architecture provides efficient computation power, communications, and knowledge sharing for managing multi-mobile robot systems.

scholarly journals A Multi-Robot Formation Platform based on an Indoor Global Positioning System

2019 ◽  
Vol 9 (6) ◽  
pp. 1165
Author(s):  
Hong’an Yang ◽  
Xuefeng Bao ◽  
Shaohua Zhang ◽  
Xu Wang
Keyword(s):  
Mobile Robot ◽  
Global Positioning System ◽  
Formation Control ◽  
Transmission Control Protocol ◽  
Indoor Navigation ◽  
Wheeled Mobile Robot ◽  
Positioning System ◽  
Position Information ◽  
Global Positioning ◽  
Multi Robot

Aimed at the problem that experimental verifications are difficult to execute due to lacking effective experimental platforms in the research field of multi-robot formation, we design a simple multi-robot formation platform. This proposed general and low-cost multi-robot formation platform includes the indoor global-positioning system, the multi-robot communication system, and the wheeled mobile robot hardware. For each wheeled mobile robot in our platform, its real-time position information in the centimeter‑level precise is obtained by the Marvelmind Indoor Navigation System and orientation information is obtained by the six-degree-of-freedom gyroscope. The Transmission Control Protocol/Internet Protocol (TCP/IP) wireless communication infrastructure is selected to support the communication among robots and the data collection in the process of experiments. Finally, a set of leader–follower formation experiments are performed by our platform, which include three trajectory tracking experiments of different types and numbers under deterministic environment and a formation-maintaining experiment with external disturbances. The results illustrate that our multi-robot formation platform can be effectively used as a general testbed to evaluate and verify the feasibility and correctness of the theoretical methods in the multi-robot formation. What is more, the proposed simple and general formation platform is beneficial to the development of platforms in the fields of multi-robot coordination, formation control, and search and rescue missions.

scholarly journals Consensus Algorithms Based Multi-Robot Formation Control under Noise and Time Delay Conditions

2019 ◽  
Vol 9 (5) ◽  
pp. 1004 ◽  
Author(s):  
Heng Wei ◽  
Qiang Lv ◽  
Nanxun Duo ◽  
GuoSheng Wang ◽  
Bing Liang
Keyword(s):  
Time Delay ◽  
Mobile Robot ◽  
Formation Control ◽  
Second Order ◽  
Multiple Time ◽  
Consensus Problem ◽  
Robot System ◽  
Maximum Time ◽  
Robot Systems ◽  
Multi Robot

In recent years, the formation control of multi-mobile robots has been widely investigated by researchers. With increasing numbers of robots in the formation, distributed formation control has become the development trend of multi-mobile robot formation control, and the consensus problem is the most basic problem in the distributed multi-mobile robot control algorithm. Therefore, it is very important to analyze the consensus of multi-mobile robot systems. There are already mature and sophisticated strategies solving the consensus problem in ideal environments. However, in practical applications, uncertain factors like communication noise, communication delay and measurement errors will still lead to many problems in multi-robot formation control. In this paper, the consensus problem of second-order multi-robot systems with multiple time delays and noises is analyzed. The characteristic equation of the system is transformed into a quadratic polynomial of pure imaginary eigenvalues using the frequency domain analysis method, and then the critical stability state of the maximum time delay under noisy conditions is obtained. When all robot delays are less than the maximum time delay, the system can be stabilized and achieve consensus. Compared with the traditional Lyapunov method, this algorithm has lower conservativeness, and it is easier to extend the results to higher-order multi-robot systems. Finally, the results are verified by numerical simulation using MATLAB/Simulink. At the same time, a multi-mobile robot platform is built, and the proposed algorithm is applied to an actual multi-robot system. The experimental results show that the proposed algorithm is finally able to achieve the consensus of the second-order multi-robot system under delay and noise interference.

scholarly journals A Fuzzy Analytic Hierarchy Process and Cooperative Game Theory Combined Multiple Mobile Robot Navigation Algorithm

Sensors ◽  
2020 ◽  
Vol 20 (10) ◽  
pp. 2827 ◽  
Author(s):  
Changwon Kim ◽  
Jong-Seob Won
Keyword(s):  
Game Theory ◽  
Mobile Robot ◽  
Analytic Hierarchy Process ◽  
Cooperative Game ◽  
Cooperative Game Theory ◽  
Robot Navigation ◽  
Analytic Hierarchy ◽  
Navigation Algorithm ◽  
Hierarchy Process ◽  
Multi Robot

This study presents a multi-robot navigation strategy based on a multi-objective decision-making algorithm, the Fuzzy Analytic Hierarchy Process (FAHP). FAHP analytically selects an optimal position as a sub-goal among points on the sensing boundary of a mobile robot considering the following three objectives: the travel distance to the target, collision safety with obstacles, and the rotation of the robot to face the target. Alternative solutions are evaluated by quantifying the relative importance of the objectives. As the FAHP algorithm is insufficient for multi-robot navigation, cooperative game theory is added to improve it. The performance of the proposed multi-robot navigation algorithm is tested with up to 12 mobile robots in several simulation conditions, altering factors such as the number of operating robots and the warehouse layout.

Decentralized Multi-Robot Teams Using Wheeled Manipulation for Object Transportation

2012 ◽  
Author(s):  
Tyson L. Ringold ◽  
Raymond J. Cipra
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Dynamic Simulation ◽  
Carrying Capacity ◽  
Arbitrary Number ◽  
Object Interaction ◽  
Wheeled Robot ◽  
Simulation Results ◽  
Object Transportation ◽  
Multi Robot

Object transportation is an especially suitable task for cooperative mobile robots where the carrying capacity of an individual robot is naturally limited. In this work, a unique wheeled robot is presented that, when used in homogeneous teams, is able to lift and carry objects which may be significantly larger than the robot itself. A key feature of the presented robot is that it is devoid of articulated manipulation mechanisms, but instead relies on its drive wheels for object interaction. After a brief introduction to the mechanics of this mobile robot, a behavior-based lifting and carrying strategy is developed that allows the robot to cooperatively raise an object from the ground, transition into a carrying role, and then transport the object across cluttered, unstructured terrain. The strategy is inherently decentralized, allowing an arbitrary number of robots to participate in the transportation task. Dynamic simulation results are then presented, showing the effectiveness of the strategy.

scholarly journals Multi-robot Cooperation Strategy Based on Wireless Sensor Network

2018 ◽  
Vol 14 (11) ◽  
pp. 77
Author(s):  
Bo Sun ◽  
Jingwei Li ◽  
Guanci Yang
Keyword(s):  
Wireless Sensor Network ◽  
Mobile Robot ◽  
Sensor Network ◽  
Trajectory Tracking ◽  
Cooperative Control ◽  
Controller Design ◽  
Kinematic Model ◽  
Wireless Sensor ◽  
Trajectory Tracking Control ◽  
Multi Robot

<p class="0abstract"><span lang="EN-US">To realize the design of multi-robot cooperative control based on wireless sensor networks, a large number of local control research experiments are carried out on a specific model of mobile robots. Combined with the kinematic model of mobile robot, the motion characteristics of this kind of mobile robot are grasped. On the basis of realizing the multi-target tracking and positioning of wireless sensor network, a multi mobile robot cooperative control system based on the feedback of wireless sensor network is developed, and the synchronous motion between the master and the robot is maintained through the feedback control of the network. Finally, a cooperative trajectory tracking control algorithm for mobile robot is introduced, and the principle of the controller design is mastered. A multi mobile robot cooperative trajectory tracking LQG controller is designed for mobile robot in wireless sensor network. The simulation results show that the algorithm can reach the cooperative control target.</span></p>

scholarly journals Prognostics-aware multi-robot route planning to extend the lifetime

2021 ◽  
Author(s):  
U˘gur Yayan ◽  
◽  
Ahmet Yazıcı ◽  
˙Inci Sarıc¸ic¸ek ◽  
◽  
...  
Keyword(s):  
Mobile Robot ◽  
Industry 4.0 ◽  
Manufacturing Systems ◽  
Route Planning ◽  
The Self ◽  
Robotic Systems ◽  
Self Awareness ◽  
Intelligent Devices ◽  
Multi Robot

Transformation to Industry 4.0, manufacturing systems need more intelligent devices with capable of self-awareness. Prognostic-aware robotic systems are one of key components for the self-awareness in manufacturing. The prognostics-aware route planning is one of the key components for the success of the multi-robot team during the long-term and uninterrupted operations with also extending lifetime and reducing maintenances costs. In this study, a Prognostics-aware Multi-Robot Route Planning (P-MRRP) algorithm is proposed for extending lifetime of the robot team. In the P-MRRP algorithm, firstly routes are obtained from route set construction algorithm and most reliable route set is selected by calculating Probability of Route Completion (PoRC) according to reliability of the robot team. The proposed algorithm also considers effect of load during the route of robots. In this study, the reliability of the robot is updated considering both the travelled distances with route of robot and the load of robot between pickup and/or delivery nodes. The results of P-MRRP algorithm are compared with the results of classical MRRP. The performance of the algorithm shows that the lifetime of mobile robot team can be extended by using the P-MRRP algorithm.

scholarly journals A multi-robot architecture for the RoboCup Logistics League

2020 ◽  
Vol 137 (6) ◽  
pp. 291-296
Author(s):  
Peter Kohout ◽  
Marco De Bortoli ◽  
Jakob Ludwiger ◽  
Thomas Ulz ◽  
Gerald Steinbauer
Keyword(s):  
Mobile Robot ◽  
Product Configuration ◽  
Delivery Time ◽  
Time Production ◽  
On Demand ◽  
Robot Architecture ◽  
Production Environments ◽  
Robot Systems ◽  
Multi Robot

Abstract Due to increasing demands on flexibility in terms of product configuration as well as delivery time production settings increasingly use teams of mobile robot systems. The RoboCup Logistics League was designed to provide a testbed to develop and test such flexibe multi-robot approaches for production environments. It resembles a product setting with on-demand product orders of different configurations. In this article we introduce the concept of the leagues and we present the solution of the team GRIPS to face that challenge.

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