scholarly journals A fully distributed motion coordination strategy for multi-robot systems with local information

2020 ◽  
Author(s):  
Pian Yu ◽  
Dimos V. Dimarogonas
Keyword(s):  
Local Information ◽  
Motion Coordination ◽  
Coordination Strategy ◽  
Robot Systems ◽  
Multi Robot

scholarly journals Consensus in networked multi-robot systems via local state feedback robust control

2019 ◽  
Vol 16 (6) ◽  
pp. 172988141989354
Author(s):  
Shijie Zhang ◽  
Yi Cao
Keyword(s):  
State Feedback ◽  
Dynamical Equation ◽  
Local Information ◽  
Network Graph ◽  
Robust Controller ◽  
Common Value ◽  
Robot Systems ◽  
Simulation Results ◽  
The Individual ◽  
Multi Robot

In the article, the consensus problem is considered for networked multi-robot systems, in which the dynamical equation of all robots is non-holonomic and nonlinear systems. In the multi-robot systems, each robot updates its current states and receives the states from the neighboring robots. Under the assumption that if the network graph is bidirectional, a local information-based state feedback robust controller is designed to make sure the convergence of the individual robots’ states to a common value. Finally, the effectiveness of the presented method is illustrated by the simulation results of a group of four mobile robots.

scholarly journals Broadcast control of multi-robot systems with norm-limited update vector

2020 ◽  
Vol 17 (4) ◽  
pp. 172988142094595 ◽  
Author(s):  
Mohamad Hafizulazwan Mohamad Nor ◽  
Zool Hilmi Ismail ◽  
Mohd Ashraf Ahmad
Keyword(s):  
Numerical Simulations ◽  
Convergence Time ◽  
Unstable Solution ◽  
Motion Coordination ◽  
Control Framework ◽  
Robot Systems ◽  
Multi Robot

This article addresses a problem in standard broadcast control framework which leads to an unstable solution in a certain motion-coordination task. First, the unstable phenomenon in a certain motion-coordination task is illustrated using standard broadcast control framework. This issue calls for modification to the standard broadcast control framework by limiting the norm of the update vector of robots’ positions into a constant value. Then, we demonstrate that the modified broadcast controller achieves the convergence with the probability of 1. Finally, we illustrate in numerical simulations that the modified broadcast controller can effectively solve the instability issue and also may improve the convergence time as compared to the standard broadcast controller.

Exploration Strategies of Coordinated Multi-Robot System: A Comparative Study

2018 ◽  
Vol 7 (1) ◽  
pp. 48
Author(s):  
Ayman. El shenawy ◽  
Khalil. Mohamed ◽  
Hany. M. Harb
Keyword(s):  
Comparative Study ◽  
Process Performance ◽  
Basic Process ◽  
Robot System ◽  
Exploration Process ◽  
Coordination Strategy ◽  
System A ◽  
Environment Exploration ◽  
Robot Systems ◽  
Multi Robot

Environment Exploration is the basic process that most of Multi Robot Systems applications depend on it. The exploration process performance depends on the coordination strategy between the robots participating in the team.  In this paper the coordination of Multi Robot Systems in the exploration process is surveyed, and the performance of different Multi Robot Systems exploration strategies is contrasted and analyzed for different environments and different team sizes.

scholarly journals Resilient Task Allocation in Heterogeneous Multi-Robot Systems

2021 ◽  
Vol 6 (2) ◽  
pp. 1327-1334
Author(s):  
Siddharth Mayya ◽  
Diego S. D'antonio ◽  
David Saldana ◽  
Vijay Kumar
Keyword(s):  
Task Allocation ◽  
Robot Systems ◽  
Multi Robot

scholarly journals Exploring Robot Connectivity and Collaborative Sensing in a High-School Enrichment Program

Robotics ◽  
2021 ◽  
Vol 10 (1) ◽  
pp. 13
Author(s):  
Igor M. Verner ◽  
Dan Cuperman ◽  
Michael Reitman
Keyword(s):  
High School ◽  
Positive Contribution ◽  
Smart Transportation ◽  
Sensory Data ◽  
Robot Systems ◽  
Enrichment Program ◽  
Collaborative Sensing ◽  
Robot Tasks ◽  
Value Of Learning ◽  
Multi Robot

Education is facing challenges to keep pace with the widespread introduction of robots and digital technologies in industry and everyday life. These challenges necessitate new approaches to impart students at all levels of education with the knowledge of smart connected robot systems. This paper presents the high-school enrichment program Intelligent Robotics and Smart Transportation, which implements an approach to teaching the concepts and skills of robot connectivity, collaborative sensing, and artificial intelligence, through practice with multi-robot systems. The students used a simple control language to program Bioloid wheeled robots and utilized Phyton and Robot Operating System (ROS) to program Tello drones and TurtleBots in a Linux environment. In their projects, the students implemented multi-robot tasks in which the robots exchanged sensory data via the internet. Our educational study evaluated the contribution of the program to students’ learning of connectivity and collaborative sensing of robot systems and their interest in modern robotics. The students’ responses indicated that the program had a high positive contribution to their knowledge and skills and fostered their interest in the learned subjects. The study revealed the value of learning of internet of things and collaborative sensing for enhancing this contribution.

scholarly journals Decentralized Task and Path Planning for Multi-Robot Systems

2021 ◽  
Vol 6 (3) ◽  
pp. 4337-4344
Author(s):  
Yuxiao Chen ◽  
Ugo Rosolia ◽  
Aaron D. Ames
Keyword(s):  
Path Planning ◽  
Robot Systems ◽  
Multi Robot
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