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Author :
Publisher :
ISBN 13 :
Total Pages : 166 pages
Book Rating : 4.:/5 (937 download)
Download or read book Coordination of Multi-robot Systems Using Supervisory Control and Optimization written by and published by . This book was released on 2003 with total page 166 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Marc Perron
Publisher :
ISBN 13 :
Total Pages : 230 pages
Book Rating : 4.:/5 (556 download)
Download or read book Supervisory Control of Multi-robot Systems written by Marc Perron and published by . This book was released on 2003 with total page 230 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Yanhao He
Publisher : Logos Verlag Berlin GmbH
ISBN 13 : 3832554408
Total Pages : 188 pages
Book Rating : 4.8/5 (325 download)
Download or read book Distributed Optimisation for Multi-Robot Cooperative Manipulation Control in Dynamic Environments written by Yanhao He and published by Logos Verlag Berlin GmbH. This book was released on 2022-12-15 with total page 188 pages. Available in PDF, EPUB and Kindle. Book excerpt: Since the manipulation tasks for robotic systems become more and more complicated, multi-robot cooperation has been attracting much attention recently. Furthermore, under the trend of human-robot co-existence, collision-free motion control is now also desired on multi-robot groups. This dissertation aims to design a novel distributed optimal control framework to deal with multi-robot cooperative manipulation of rigid objects in dynamic environments. Besides object transportation, the control scheme also tackles obstacle avoidance, joint-space performance optimisation and internal force suppression. The proposed control framework has a two-layer structure, with a distributed optimisation algorithm in the kinematic layer for generating proper joint configuration references, followed by a robot motion controller in the dynamic control layer to fulfil the reference. An indirect and a direct distributed optimisation method are developed for the kinematic layer, both of which are computationally and communicationally efficient. In the dynamic control layer, impedance control is employed for safe physical interaction. As another highlight, abundant experiments carried out on a multi-arm test bench have demonstrated the effectiveness of the presented control schemes under various environmental and task settings. The recorded computation time shows the applicability of the control framework in practice.
Author : John D. Lee
Publisher : Oxford University Press
ISBN 13 : 0199757186
Total Pages : 659 pages
Book Rating : 4.1/5 (997 download)
Download or read book The Oxford Handbook of Cognitive Engineering written by John D. Lee and published by Oxford University Press. This book was released on 2013-03-07 with total page 659 pages. Available in PDF, EPUB and Kindle. Book excerpt: This handbook is the first to provide comprehensive coverage of original state-of-the-science research, analysis, and design of integrated, human-technology systems.
Author : Stefan Jorgensen
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (14 download)
Download or read book Submodular Optimization for Risk-aware Coordination of Multi-robot Systems written by Stefan Jorgensen and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Robots are often designed for dangerous environments such as severe storms, but routing algorithms rarely are. This dissertation introduces a new class of routing problems with ``risky traversal'' where a robot may fail when travelling between two sites. Our key insight is that many objectives in the risky traversal model satisfy a diminishing returns property known as submodularity. We develop a set of tools based on submodular optimization which lead to efficient solutions for a wide variety of problems: 1. The "Team Surviving Orienteers" (TSO) problem, where the size of the team is fixed and we seek routes which maximize the expected rewards collected at nodes, subject to survival probability constraints on each robot. 2. The "On-line TSO" problem, where observations are incorporated to update the paths on-line in a parallel fashion (in response to survival events). 3. The "Heterogeneous TSO" problem, which allows robots to have different capabilities such as sensors (affecting rewards collected), actuation (affecting ability to traverse between sites), and robustness (affecting survival probabilities). 4. The "Matroid TSO" problem, where the set of routes must satisfy an `independence' constraint represented by a matroid, for example limits on the number of each type of robot available, traffic through regions of the environment, total risk budgets for the team, or combinations of these limits. 5. The "Risk Sensitive Coverage" problem, which is the dual to the TSO where the team must satisfy a coverage constraint (e.g., ensure that nodes are visited with specified probabilities) while using minimum resources (e.g., number of robots deployed, distance travelled, or expected number of failures). Our algorithms are based on the approximate greedy algorithm, where we iteratively select a path which approximately maximizes the expected incremental rewards subject to some constraints. Due to the submodular structure of the problems considered in this dissertation, we can prove bounds on the suboptimality of our algorithms. The approach developed in this dissertation provides a foundational set of tools for routing large scale teams in dangerous environments while explicitly planning for robot failure.
Author : Kazunori Sakurama
Publisher :
ISBN 13 : 9781680839029
Total Pages : 194 pages
Book Rating : 4.8/5 (39 download)
Download or read book Generalized Coordination of Multi-robot Systems written by Kazunori Sakurama and published by . This book was released on 2021-12-02 with total page 194 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides an accessible overview of the complexities of generalized coordination for students, researchers and practitioners alike. Covering both theory and practical issues, the authors provide examples throughout to clearly illustrate the concepts being discussed.
Author : Alan C. Schultz
Publisher : Springer Science & Business Media
ISBN 13 : 9401723761
Total Pages : 227 pages
Book Rating : 4.4/5 (17 download)
Download or read book Multi-Robot Systems: From Swarms to Intelligent Automata written by Alan C. Schultz and published by Springer Science & Business Media. This book was released on 2013-11-11 with total page 227 pages. Available in PDF, EPUB and Kindle. Book excerpt: In March 2002, the Naval Research Laboratory brought together leading researchers and government sponsors for a three-day workshop in Washington, D.C. on Multi-Robot Systems. The workshop began with presentations by various government program managers describing application areas and programs with an interest in multi robot systems. Government representatives were on hand from the Office of Naval Research, the Air Force, the Army Research Lab, the National Aeronau tics and Space Administration, and the Defense Advanced Research Projects Agency. Top researchers then presented their current activities in the areas of multi robot systems and human-robot interaction. The first two days of the workshop of1ocalizatio~. concentrated on multi-robot control issues, including the topics mapping, and navigation; distributed surveillance; manipulation; coordination and formations; and sensors and hardware. The third day was focused on hu man interactions with multi-robot teams. All presentations were given in a single-track workshop format. This proceedings documents the work presented by these researchers at the workshop. The invited presentations were followed by panel discussions, in which all participants interacted to highlight the challenges of this field and to develop possible solutions. In addition to the invited research talks, students were given an opportunity to present their work at poster sessions.
Author : Michael Melholt Quottrup
Publisher :
ISBN 13 : 9788790664312
Total Pages : 151 pages
Book Rating : 4.6/5 (643 download)
Download or read book Towards Coordination and Control of Multi-robot Systems written by Michael Melholt Quottrup and published by . This book was released on 2007 with total page 151 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Alcherio Martinoli
Publisher : Springer
ISBN 13 : 3642327230
Total Pages : 615 pages
Book Rating : 4.6/5 (423 download)
Download or read book Distributed Autonomous Robotic Systems written by Alcherio Martinoli and published by Springer. This book was released on 2012-09-05 with total page 615 pages. Available in PDF, EPUB and Kindle. Book excerpt: Distributed robotics is a rapidly growing, interdisciplinary research area lying at the intersection of computer science, communication and control systems, and electrical and mechanical engineering. The goal of the Symposium on Distributed Autonomous Robotic Systems (DARS) is to exchange and stimulate research ideas to realize advanced distributed robotic systems. This volume of proceedings includes 43 original contributions presented at the Tenth International Symposium on Distributed Autonomous Robotic Systems (DARS 2010), which was held in November 2010 at the École Polytechnique Fédérale de Lausanne (EPFL), Switzerland. The selected papers in this volume are authored by leading researchers from Asia, Europa, and the Americas, thereby providing a broad coverage and perspective of the state-of-the-art technologies, algorithms, system architectures, and applications in distributed robotic systems. The book is organized into four parts, each representing one critical and long-term research thrust in the multi-robot community: distributed sensing (Part I); localization, navigation, and formations (Part II); coordination algorithms and formal methods (Part III); modularity, distributed manipulation, and platforms (Part IV).
Author : Sahoo, Prasanta
Publisher : IGI Global
ISBN 13 : 1799818330
Total Pages : 524 pages
Book Rating : 4.7/5 (998 download)
Download or read book Handbook of Research on Developments and Trends in Industrial and Materials Engineering written by Sahoo, Prasanta and published by IGI Global. This book was released on 2019-11-01 with total page 524 pages. Available in PDF, EPUB and Kindle. Book excerpt: In today’s modernized world, new research and empirical findings are being conducted and found within various professional industries. The field of engineering is no different. Industrial and material engineering is continually advancing, making it challenging for practitioners to keep pace with the most recent trends and methods. Engineering professionals need a handbook that provides up-to-date research on the newest methodologies in this imperative industry. The Handbook of Research on Developments and Trends in Industrial and Materials Engineering is a collection of innovative research on the theoretical and practical aspects of integrated systems within engineering. This book provides a forum for professionals to understand the advancing methods of engineering. While highlighting topics including operations management, decision analysis, and communication technology, this book is ideally designed for researchers, managers, engineers, industrialists, manufacturers, academicians, policymakers, scientists, and students seeking current research on recent findings and modern approaches within industrial and materials engineering.
Author : Rajiv Mehrotra
Publisher :
ISBN 13 :
Total Pages : 148 pages
Book Rating : 4.4/5 (91 download)
Download or read book Multirobot Systems written by Rajiv Mehrotra and published by . This book was released on 1990 with total page 148 pages. Available in PDF, EPUB and Kindle. Book excerpt: A collection of reprints on coordination of multiple robots with a common workspace, and control strategies in coordinated multiple-robot systems. No index. Acidic paper. Annotation copyright Book News, Inc. Portland, Or.
Author : Pio Ong
Publisher :
ISBN 13 :
Total Pages : 226 pages
Book Rating : 4.:/5 (13 download)
Download or read book Uniting and Balancing Control Objectives written by Pio Ong and published by . This book was released on 2022 with total page 226 pages. Available in PDF, EPUB and Kindle. Book excerpt: Multi-robot systems can accomplish a variety of tasks through the power of coordination. There are mutliple benefits. These systems have many advantages over a single very complex robot in term of scalability, versatility, and adaptability. In many cases, the robots cannot accomplish much by itself, but coordination empowers them the ability to complete various objectives. Even when the individuals robots are very capable, coordination can increase robot efficiency by allocating robots with fitting tasks. In both scenarios, the problem of balancing the system objectives arise naturally, and properly addressing it can lead to better overall performance. Motivated by this observation, this dissertation seek to understand how different objectives can be put together and how to strike a balance between them. We consider control objectives at the most fundamental level to control systems, such as stability, system safety, smoothness of the controller, performance, and resources spent for accomplishing tasks. This dissertation is divided into two parts. The first part deals with control laws that considerboth stability and safety objectives. We design controllers that can satisfy simultaneously conditions given by control Lyapunov functions and control barrier functions. Depending on the smoothness properties of the given functions, we guarantee the continuity or smoothness of the controller. In particular, we design a continuous controller for connectivity maintenance, and also design a universal formula for smooth safe stabilization. In the second part, we study the resource-efficient implementation of control laws using event-triggered control. We improve the existing event-triggered control framework for stabilization by incorporating prescribed performance into the design. The resulting framework further enhances the advantage of resource conservation characteristic of event-triggered control. We build on the proposed framework to design an intrinsically Zeno-free distributed triggering mechanisms for network systems. In addition, this dissertation also explores unconventional ways to utilize the event-triggered control framework. In one way, we deviate ourselves from trigger conditions that use Lyapunov functions replacing it instead with barrier certificate and develop an event-triggered control framework for safety objectives. Another interesting way we explore to use event-triggered control is in the context of human supervised multiobjective optimization. In this setting, we consider the human as a valuable resource, which should be used sparingly, and use event-triggered control to accommodate various models of human performance, such as constraints on the response time and the interaction frequency.
Author :
Publisher :
ISBN 13 :
Total Pages : 980 pages
Book Rating : 4.3/5 (91 download)
Download or read book Proceedings of the ... IEEE International Conference on Control Applications written by and published by . This book was released on 1996 with total page 980 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Yisong Guo
Publisher :
ISBN 13 :
Total Pages : 56 pages
Book Rating : 4.:/5 (815 download)
Download or read book Using Agent-based Models to Understand Multi-operator Supervisory Control written by Yisong Guo and published by . This book was released on 2012 with total page 56 pages. Available in PDF, EPUB and Kindle. Book excerpt: As technology advances, many practical applications require human-controlled robots. For such applications, it is useful to determine the optimal number of robots an operator should control to maximize human efficiency given different situations. One way to achieve this is through computer simulations of team performance. In order to factor in various parameters that may affect team performance, an agent-based model will be used. Agent-based modeling is a computational method that enables a researcher to create, analyze, and experiment with models composed of agents that interact within an environment [12]. We construct an agent-based model of humans interacting with robots, and explore how team performance relates to different agent parameters and team organizational structures [21]. Prior work describes interaction between a single operator and multiple robots, while this work includes multi-operator performance and coordination. Model parameters include neglect time, interaction time, operator slack time, level of robot autonomy, etc. Understanding the parameters that influence team performance will be a step towards finding ways to maximize performance in real life human-robot systems.
Author : Alan C. Schultz
Publisher : Springer
ISBN 13 : 9781402006791
Total Pages : 235 pages
Book Rating : 4.0/5 (67 download)
Download or read book Multi-Robot Systems: From Swarms to Intelligent Automata written by Alan C. Schultz and published by Springer. This book was released on 2002-05-31 with total page 235 pages. Available in PDF, EPUB and Kindle. Book excerpt: In March 2002, the Naval Research Laboratory brought together leading researchers and government sponsors for a three-day workshop in Washington, D.C. on Multi-Robot Systems. The workshop began with presentations by various government program managers describing application areas and programs with an interest in multi robot systems. Government representatives were on hand from the Office of Naval Research, the Air Force, the Army Research Lab, the National Aeronau tics and Space Administration, and the Defense Advanced Research Projects Agency. Top researchers then presented their current activities in the areas of multi robot systems and human-robot interaction. The first two days of the workshop of1ocalizatio~. concentrated on multi-robot control issues, including the topics mapping, and navigation; distributed surveillance; manipulation; coordination and formations; and sensors and hardware. The third day was focused on hu man interactions with multi-robot teams. All presentations were given in a single-track workshop format. This proceedings documents the work presented by these researchers at the workshop. The invited presentations were followed by panel discussions, in which all participants interacted to highlight the challenges of this field and to develop possible solutions. In addition to the invited research talks, students were given an opportunity to present their work at poster sessions.
Author : Lynne E. Parker
Publisher : Springer Science & Business Media
ISBN 13 : 9781402033889
Total Pages : 328 pages
Book Rating : 4.0/5 (338 download)
Download or read book Multi-Robot Systems. From Swarms to Intelligent Automata, Volume III written by Lynne E. Parker and published by Springer Science & Business Media. This book was released on 2005-04 with total page 328 pages. Available in PDF, EPUB and Kindle. Book excerpt: This proceedings volume documents recent cutting-edge developments in multi-robot systems research. This volume is the result of the Third International workshop on Multi-Robot Systems that was held in March 2005 at the Naval Research Laboratory in Washington, D.C. This workshop brought together top researchers working in areas relevant to designing teams of autonomous vehicles, including robots and unmanned ground, air, surface, and undersea vehicles. The workshop focused on the challenging issues of team architectures, vehicle learning and adaptation, heterogeneous group control and cooperation, task selection, dynamic autonomy, mixed initiative, and human and robot team interaction. A broad range of applications of this technology are presented in this volume, including UCAVS (Unmanned Combat Air Vehicles), micro-air vehicles, UUVs (Unmanned Underwater Vehicles), UGVs (Unmanned Ground vehicles), planetary exploration, assembly in space, clean-up, and urban search and rescue. This proceedings volume represents the contributions of the top researchers in this field and serves as a valuable tool for professionals in this interdisciplinary field.
Author : Hugh F. Durrant-Whyte
Publisher : Springer
ISBN 13 : 9781461291985
Total Pages : 236 pages
Book Rating : 4.2/5 (919 download)
Download or read book Integration, Coordination and Control of Multi-Sensor Robot Systems written by Hugh F. Durrant-Whyte and published by Springer. This book was released on 2011-09-26 with total page 236 pages. Available in PDF, EPUB and Kindle. Book excerpt: Overview Recent years have seen an increasing interest in the development of multi-sensory robot systems. The reason for this interest stems from a realization that there are fundamental limitations on the reconstruction of environment descriptions using only a single source of sensor information. If robot systems are ever to achieve a degree of intelligence and autonomy, they must be capable of using many different sources of sensory information in an active and dynamic manner. The observations made by the different sensors of a multi-sensor system are always uncertain, usually partial, occasionally spuri9us or incorrect and often geographically or geometrically imcomparable with other sensor views. The sensors of these systems are characterized by the diversity of information that they can provide and by the complexity of their operation. It is the goal of a multi sensor system to combine information from all these different sources into a robust and consistent description of the environment.
