UnmannedSim: Urban and Multi-Agent Navigation Network-Enabled Drones Simulator for Path Planning and Localization Research

2021 ◽  
Author(s):  
Sugata Ahad ◽  
Wai Ching Lucas Shiu ◽  
Xin Yue Huang ◽  
DM Zahin Sajid ◽  
Max Jwo Lem Lee ◽  
...  
Keyword(s):  
Path Planning ◽  
Multi Agent ◽  
Agent Navigation

Multi-Agent Form Closure Capture of a Generic 2D Polygonal Object Based on Projective Path Planning

2006 ◽  
Author(s):  
Pankaj Sharma ◽  
Anupam Saxena ◽  
Ashish Dutta
Keyword(s):  
Path Planning ◽  
Contact Point ◽  
Point Contact ◽  
Object Boundary ◽  
Actual Object ◽  
Contact Points ◽  
Correct Orientation ◽  
Novel Approach ◽  
Form Closure ◽  
Multi Agent

The study of multi-agent capture and manipulation of an object has been an area of active interest for many researchers. This paper presents a novel approach using Genetic Algorithm to determine the optimal contact points and the total number of agents (mobile robots) required to capture a stationary generic 2D polygonal object. After the goal points are determined the agents then reach their respective goals using a decentralized projective path planning algorithm. Form closure of the object is obtained using the concept of accessibility angle. The object boundary is first expanded and the robots reach the expanded object goal points and then converge on the actual object. This ensures that the agents reach the actual goal points at the same time and have the correct orientation. Frictionless point contact between the object and robots is assumed. The shape of the robot is considered a circle such that it can only apply force in outward radial direction from its center and along the normal to the object boundary at the contact point. Simulations results are presented that prove the effectiveness of the proposed method.

A Multi-Agent Based Tool Path Planning Method for STEP-NC Compliant Milling

2010 ◽  
Vol 97-101 ◽  
pp. 3382-3386 ◽  
Author(s):  
Juan Du ◽  
Xian Guo Yan ◽  
Zhi Chen
Keyword(s):  
Path Planning ◽  
Tool Path ◽  
Data Transfer ◽  
Planning Method ◽  
Cnc Machining ◽  
Distributed Artificial Intelligence ◽  
Tool Path Planning ◽  
Machining Processes ◽  
Nc Program ◽  
Multi Agent

Today a new model of data transfer between CAD/CAM systems and CNC machines, called STEP-NC, is being developed by the ISO technical Committees. It overcomes the shortcomings of ISO 6983 by specifying machining processes rather than machine motion, using the object-oriented concept of working step. Although the STEP-NC contains abundant geometry information of part and associated process parameters, the tool path is general not included in the STEP-NC program. So before the beginning of the STEP-NC-compliant CNC machining, the tool path should be firstly designed. By analyzing the characteristic of STEP-NC data model for milling, a working step-oriented tool path planning method for milling was proposed in this paper, and the distributed artificial intelligence methods, namely collaborative multi-agent was employed to accomplish tool path planning. Firstly a multi-agent architecture was constructed to allow multiple agents to work cooperatively to realize automation of tool path planning, and then, the function of every kind of agent and the communication between the agents were all described in detail. At last, one test component was designed and simulated to demonstrate the capabilities of this research in the paper.

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