scholarly journals Study of Self-Organization Model of Multiple Mobile Robot

10.5772/5785 ◽  
2005 ◽  
Vol 2 (3) ◽  
pp. 23 ◽  
Author(s):  
Ceng Xian-yi ◽  
Li Shu-qin ◽  
Xia De-shen
Keyword(s):  
Mobile Robot ◽  
Dynamic Environment ◽  
Team Leader ◽  
Self Organization ◽  
Recursive Structure ◽  
Top Down ◽  
Organization Model ◽  
Robot Society ◽  
Task Oriented ◽  
Good Organization

A good organization model of multiple mobile robot should be able to improve the efficiency of the system, reduce the complication of robot interactions, and detract the difficulty of computation. From the sociology aspect of topology, structure and organization, this paper studies the multiple mobile robot organization formation and running mechanism in the dynamic, complicated and unknown environment. It presents and describes in detail a Hierarchical-Web Recursive Organization Model (HWROM) and forming algorithm. It defines the robot society leader; robotic team leader and individual robot as the same structure by the united framework and describes the organization model by the recursive structure. The model uses task-oriented and top-down method to dynamically build and maintain structures and organization. It uses market-based techniques to assign task, form teams and allocate resources in dynamic environment. The model holds several characteristics of self-organization, dynamic, conciseness, commonness and robustness.

Top-Down Analysis of a Dynamic Environment

2008 ◽  
pp. 33-51 ◽  
Author(s):  
Mandana Veiseh ◽  
Eva Turley ◽  
Mina Bissell
Keyword(s):  
Dynamic Environment ◽  
Top Down

scholarly journals Rapid Relocation Method for Mobile Robot Based on Improved ORB-SLAM2 Algorithm

2019 ◽  
Vol 11 (2) ◽  
pp. 149 ◽  
Author(s):  
Guanci Yang ◽  
Zhanjie Chen ◽  
Yang Li ◽  
Zhidong Su
Keyword(s):  
Mobile Robot ◽  
Dynamic Environment ◽  
Original System ◽  
Tracking Accuracy ◽  
Vocabulary Size ◽  
Map Construction ◽  
Speed Tracking ◽  
Start Up ◽  
C Programming ◽  
Robot Platform

In order to realize fast real-time positioning after a mobile robot starts, this paper proposes an improved ORB-SLAM2 algorithm. Firstly, we proposed a binary vocabulary storage method and vocabulary training algorithm based on an improved Oriented FAST and Rotated BRIEF (ORB) operator to reduce the vocabulary size and improve the loading speed of the vocabulary and tracking accuracy. Secondly, we proposed an offline map construction algorithm based on the map element and keyframe database; then, we designed a fast reposition method of the mobile robot based on the offline map. Finally, we presented an offline visualization method for map elements and mapping trajectories. In order to check the performance of the algorithm in this paper, we built a mobile robot platform based on the EAI-B1 mobile chassis, and we implemented the rapid relocation method of the mobile robot based on improved ORB SLAM2 algorithm by using C++ programming language. The experimental results showed that the improved ORB SLAM2 system outperforms the original system regarding start-up speed, tracking and positioning accuracy, and human–computer interaction. The improved system was able to build and load offline maps, as well as perform rapid relocation and global positioning tracking. In addition, our experiment also shows that the improved system is robust against a dynamic environment.

scholarly journals Interactive mobile robot in a dynamic environment

2018 ◽  
Vol 51 (30) ◽  
pp. 354-359
Author(s):  
Bakhtawar Rehman ◽  
Rauf Yagfarov ◽  
Alexandr Klimchik
Keyword(s):  
Mobile Robot ◽  
Dynamic Environment

scholarly journals Controlled positioning of nanoparticles on a micrometer scale

2012 ◽  
Vol 3 ◽  
pp. 773-777 ◽  
Author(s):  
Fabian Enderle ◽  
Oliver Dubbers ◽  
Alfred Plettl ◽  
Paul Ziemann
Keyword(s):  
Electron Beam ◽  
Electron Beam Lithography ◽  
Au Nanoparticles ◽  
Self Organization ◽  
Top Down ◽  
Ion Etching ◽  
Au Nps ◽  
Si Substrates ◽  
Square Array ◽  
Micrometer Scale

For many applications it is desirable to have nanoparticles positioned on top of a given substrate well separated from each other and arranged in arrays of a certain geometry. For this purpose, a method is introduced combining the bottom-up self-organization of precursor-loaded micelles providing Au nanoparticles (NPs), with top-down electron-beam lithography. As an example, 13 nm Au NPs are arranged in a square array with interparticle distances >1 µm on top of Si substrates. By using these NPs as masks for a subsequent reactive ion etching, the square pattern is transferred into Si as a corresponding array of nanopillars.

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