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Obstacle Avoidance In Multi Robot Systems
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Book Synopsis Obstacle Avoidance In Multi-robot Systems, Experiments In Parallel Genetic Algorithms by : Mark A C Gill
Download or read book Obstacle Avoidance In Multi-robot Systems, Experiments In Parallel Genetic Algorithms written by Mark A C Gill and published by World Scientific. This book was released on 1998-06-17 with total page 199 pages. Available in PDF, EPUB and Kindle. Book excerpt: Obstacle Avoidance in Multi-robot Systems: Experiments in Parallel Genetic Algorithms offers a novel framework for solving the path planning problem for robot manipulators. Simple and efficient solutions are proposed for the path planning problem based on genetic algorithms. One of the attractive features of genetic algorithms is their ability to solve formidable problems in a robust and straightforward manner. Moreover, genetic algorithms are inherently parallel in nature, which makes them ideal candidates for parallel computing implementations.By combining the robustness of genetic algorithms with the power of parallel computers, this book provides an effective and practical approach to solving path planning problems. The book gives details of implementations that allow a better understanding of the complexities involved in the development of parallel path planning algorithms. The material presented is interdisciplinary in nature — it combines topics from robotics, genetic algorithms, and parallel processing. The book can be used by practitioners and researchers in computer science and engineering.
Book Synopsis Obstacle Avoidance in Multi-robot Systems by : Mark A. C. Gill
Download or read book Obstacle Avoidance in Multi-robot Systems written by Mark A. C. Gill and published by World Scientific. This book was released on 1998 with total page 202 pages. Available in PDF, EPUB and Kindle. Book excerpt: Obstacle Avoidance in Multi-robot Systems: Experiments in Parallel Genetic Algorithms offers a novel framework for solving the path planning problem for robot manipulators. Simple and efficient solutions are proposed for the path planning problem based on genetic algorithms. One of the attractive features of genetic algorithms is their ability to solve formidable problems in a robust and straightforward manner. Moreover, genetic algorithms are inherently parallel in nature, which makes them ideal candidates for parallel computing implementations.By combining the robustness of genetic algorithms with the power of parallel computers, this book provides an effective and practical approach to solving path planning problems. The book gives details of implementations that allow a better understanding of the complexities involved in the development of parallel path planning algorithms. The material presented is interdisciplinary in nature ? it combines topics from robotics, genetic algorithms, and parallel processing. The book can be used by practitioners and researchers in computer science and engineering.
Book Synopsis A Hierarchical Collision-free Path Planning in Multi-robot Systems Including Obstacle Avoidance by : Mustafa Kemal Uyguroğlu
Download or read book A Hierarchical Collision-free Path Planning in Multi-robot Systems Including Obstacle Avoidance written by Mustafa Kemal Uyguroğlu and published by . This book was released on 1991 with total page 75 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Formation and Obstacle Avoidance in the Unknown Environment of Multi-Robot System by : Tao Zhang
Download or read book Formation and Obstacle Avoidance in the Unknown Environment of Multi-Robot System written by Tao Zhang and published by . This book was released on 2011 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Formation and Obstacle Avoidance in the Unknown Environment of Multi-Robot System.
Book Synopsis Autonomous Mobile Robots and Multi-Robot Systems by : Eugene Kagan
Download or read book Autonomous Mobile Robots and Multi-Robot Systems written by Eugene Kagan and published by John Wiley & Sons. This book was released on 2019-09-02 with total page 344 pages. Available in PDF, EPUB and Kindle. Book excerpt: Offers a theoretical and practical guide to the communication and navigation of autonomous mobile robots and multi-robot systems This book covers the methods and algorithms for the navigation, motion planning, and control of mobile robots acting individually and in groups. It addresses methods of positioning in global and local coordinates systems, off-line and on-line path-planning, sensing and sensors fusion, algorithms of obstacle avoidance, swarming techniques and cooperative behavior. The book includes ready-to-use algorithms, numerical examples and simulations, which can be directly implemented in both simple and advanced mobile robots, and is accompanied by a website hosting codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming consists of four main parts. The first looks at the models and algorithms of navigation and motion planning in global coordinates systems with complete information about the robot’s location and velocity. The second part considers the motion of the robots in the potential field, which is defined by the environmental states of the robot's expectations and knowledge. The robot's motion in the unknown environments and the corresponding tasks of environment mapping using sensed information is covered in the third part. The fourth part deals with the multi-robot systems and swarm dynamics in two and three dimensions. Provides a self-contained, theoretical guide to understanding mobile robot control and navigation Features implementable algorithms, numerical examples, and simulations Includes coverage of models of motion in global and local coordinates systems with and without direct communication between the robots Supplemented by a companion website offering codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming is an excellent tool for researchers, lecturers, senior undergraduate and graduate students, and engineers dealing with mobile robots and related issues.
Download or read book Bericht written by and published by . This book was released on 1981 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Formation and Obstacle Avoidance in the Unknown Environment of Multi-Robot System by : Tao Zhang
Download or read book Formation and Obstacle Avoidance in the Unknown Environment of Multi-Robot System written by Tao Zhang and published by . This book was released on 2011 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Multirobot Systems by : Rajiv Mehrotra
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.
Book Synopsis A Switching Formation Strategy for Obstacle Avoidance of a Multi-robot System Based on Robot Priority Model by :
Download or read book A Switching Formation Strategy for Obstacle Avoidance of a Multi-robot System Based on Robot Priority Model written by and published by . This book was released on 2015 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Distributed Autonomous Robotic Systems 5 by : H. Asama
Download or read book Distributed Autonomous Robotic Systems 5 written by H. Asama and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 486 pages. Available in PDF, EPUB and Kindle. Book excerpt: The 6th International Symposium on Distributed Autonomous Robotic Systems (DARS 2002) was held in June 2002 in Fukuoka, Japan, a decade after the first DARS symposium was convened. This book, containing the proceedings of the symposium, provides broad coverage of the technical issues in the current state of the art in distributed autonomous systems composed of multiple robots, robotic modules, or robotic agents. DARS 2002 dealt with new strategies for realizing complex, modular, robust, and fault-tolerant robotic systems, and this volume covers the technical areas of system design, modeling, simulation, operation, sensing, planning, and control. The papers that are included here were contributed by leading researchers from Asia, Oceania, Europe, and the Americas, and make up an invaluable resource for researchers and students in the field of distributed autonomous robotic systems.
Book Synopsis Model-based Collision Avoidance for Dynamic Single- and Multi-robot Systems by : Daman F. Bareiss
Download or read book Model-based Collision Avoidance for Dynamic Single- and Multi-robot Systems written by Daman F. Bareiss and published by . This book was released on 2016 with total page 84 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Multi-Robot Systems written by and published by BoD – Books on Demand. This book was released on 2023-12-13 with total page 148 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotics is an important part of modern engineering involving electricity and electronics, computers, mathematics, and mechanism design. In recent years, in addition to serial robots, multi-robot systems have begun to attract the attention of students, academics, and industry workers. This interest has directly impacted the development of novel theoretical research areas and products. This book explores new developments in multi-robot systems, such as trajectory planning, control algorithms, and programming.
Book Synopsis Collision Avoidance Controller Design for Multi-robot System by : Kwong Song Ngan
Download or read book Collision Avoidance Controller Design for Multi-robot System written by Kwong Song Ngan and published by . This book was released on 2003 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Comparison of Obstacle Avoidance Algorithms for a Multi-link Robot by Computer Simulations by : Hoo Dennis Ong
Download or read book Comparison of Obstacle Avoidance Algorithms for a Multi-link Robot by Computer Simulations written by Hoo Dennis Ong and published by . This book was released on 1987 with total page 158 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Multi-robot Optimal Motion Planning by : Guoxiang Zhao
Download or read book Multi-robot Optimal Motion Planning written by Guoxiang Zhao and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The recent rapid development of computing, communication and sensing technologies triggers the prevalence of multi-robot systems. Compared to single-robot systems, multi-robot systems are advantageous in three aspects: 1) they can accomplish tasks which are beyond the capabilities of single robots; 2) they are cheaper and more flexible for certain tasks; 3) control scheme of multi-robot systems may reveal insights into key issues in social and life sciences. Multi-robot systems have numerous applications in various areas, such as traffic coordination and precision agriculture. Robotic motion planning is a fundamental problem where a sequence of controls are identified to steer robots to goal regions subject to geometric and dynamic constraints. However, the problem is computationally hard even for a single robot. The generalized mover's problem is shown to be PSPACE-hard in degrees of freedom. The optimal motion planning, where the aggregate cost along the returned trajectory is minimized, is more computationally challenging. It is shown that computing the shortest path in R^3 populated with obstacles is NP-hard in the number of obstacles. Multi-robot motion planning is even harder than its single-robot counterpart and its worst-case computational complexity grows exponentially in the number of robots. In this dissertation, we aim to study multi-robot optimal motion planning and design a set of planners towards scalability and optimality. Our research is three-fold. We first investigate the scenario where a team of robots desire to arrive at their own goal regions as soon as possible. The robots are governed by complex dynamics and need to maintain safe distance from static obstacles and other robots. The optimality of the solution is characterized by Pareto optimality, where the reduction of one robot's travelling time must cause the rise of others'. A novel numerical algorithm is proposed to identify the Pareto optimal solutions where no robot can unilaterally reduce its traveling time without extending others'. The consistent approximation of the algorithm in the epigraphical profile sense is guaranteed using set-valued numerical analysis. Experiments on an indoor multi-robot platform and computer simulations show the anytime property of the proposed algorithm; i.e., it is able to quickly return a feasible control policy that safely steers the robots to their goal regions and it keeps improving policy optimality if more time is given. Then we propose a distributed algorithm to achieve much better scalability. Specifically, the algorithm integrates decoupled optimal feedback planning and distributed conflict resolution to coordinate a fleet of unicycle robots. Each robot independently generates its optimal motions offline and avoids collisions with other objects in online execution. The computational complexity is independent of the robot number. Moreover, each robot's individual planner is optimal and its motion is rarely interfered in exercise, so the algorithm is near-optimal. Collision avoidance and finite-time arrival at the goal regions are formally guaranteed. A set of simulations are conducted to verify the scalability and near-optimality of the proposed algorithm. Lastly, we propose a distributed optimal motion planning algorithm for heterogeneous multi-robot systems and strongly coupled missions to balance scalability and optimality, where multiple robots of different dynamics desire to safely reach their respective goal regions with minimal cost. Each robot shares its policy with others in parallel and takes best response with respect to others' policies in a sequential fashion. The proposed algorithm is shown to converge to the optimal value function, and the computational complexity is linear with respect to robot number but is much smaller than benchmark. A set of simulations are conducted to verify the scalability and near-optimality of the proposed algorithm.
Book Synopsis Control, Security and Realization of Multi-robot Systems by :
Download or read book Control, Security and Realization of Multi-robot Systems written by and published by . This book was released on 2014 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt: As mobile robotic applications continue to expand at a fast pace, the study of multi-robot coordination remains primarily experimental at present. In the future, being able to have groups of mobile robots work together effectively in a real-world environment will revolutionize industry and society. This dissertation analyzes the control and communication security of a Multi-Robot System (MRS), and seeks to develop novel methods that would be effective and feasible to implement in a practical application. The control techniques presented in this dissertation are applied to the task of controlling the formation of a MRS. An effective and computationally efficient algorithm for a single robot to track its assigned position in a formation is developed by exploiting Lyapunov stability theory. This high-level formation control algorithm is then integrated with a low-level obstacle avoidance algorithm that is based on optimal control principles. The resulting decentralized control algorithm performs well and operates on very few operational and environmental assumptions. The control algorithms were tested in computer simulations, as well as real world experiments. Elliptic Curve Cryptography (ECC) is a public key encryption system that yields very high security per key bit, as compared to other public key systems. The small key size is well-suited to embedded applications such as a MRS because memory is typically limited in such situations. However, because the compuational operations of an ECC system are fairly complex, it is very helpful to implement them in hardware using an FPGA. While there are many papers written on the subject of efficient implementations of ECC functionality, very few actually apply them to practical systems. This dissertation presents an FPGA system design for a special-purpose ECC co-processor. This co-processor communicates with the PCs that run the formation control algorithms and are used to encrypt and decrypt the data necessary for the formation control to work. The individual hardware modules were simulated to verify their functionality before downloading the entire system into an FPGA. Real world experiments show dramatic performance increases over equivalent implementations on a PC and demonstrate the feasibility of an ECC-based cryptosystem for use in a MRS network.
Book Synopsis Safe Robot Navigation Among Moving and Steady Obstacles by : Andrey V. Savkin
Download or read book Safe Robot Navigation Among Moving and Steady Obstacles written by Andrey V. Savkin and published by Butterworth-Heinemann. This book was released on 2015-09-25 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt: Safe Robot Navigation Among Moving and Steady Obstacles is the first book to focus on reactive navigation algorithms in unknown dynamic environments with moving and steady obstacles. The first three chapters provide introduction and background on sliding mode control theory, sensor models, and vehicle kinematics. Chapter 4 deals with the problem of optimal navigation in the presence of obstacles. Chapter 5 discusses the problem of reactively navigating. In Chapter 6, border patrolling algorithms are applied to a more general problem of reactively navigating. A method for guidance of a Dubins-like mobile robot is presented in Chapter 7. Chapter 8 introduces and studies a simple biologically-inspired strategy for navigation a Dubins-car. Chapter 9 deals with a hard scenario where the environment of operation is cluttered with obstacles that may undergo arbitrary motions, including rotations and deformations. Chapter 10 presents a novel reactive algorithm for collision free navigation of a nonholonomic robot in unknown complex dynamic environments with moving obstacles. Chapter 11 introduces and examines a novel purely reactive algorithm to navigate a planar mobile robot in densely cluttered environments with unpredictably moving and deforming obstacles. Chapter 12 considers a multiple robot scenario. For the Control and Automation Engineer, this book offers accessible and precise development of important mathematical models and results. All the presented results have mathematically rigorous proofs. On the other hand, the Engineer in Industry can benefit by the experiments with real robots such as Pioneer robots, autonomous wheelchairs and autonomous mobile hospital. First book on collision free reactive robot navigation in unknown dynamic environments Bridges the gap between mathematical model and practical algorithms Presents implementable and computationally efficient algorithms of robot navigation Includes mathematically rigorous proofs of their convergence A detailed review of existing reactive navigation algorithm for obstacle avoidance Describes fundamentals of sliding mode control
