Cooperative Formation Planning and Control of Multiple Mobile Robots PDF Download

Author: R. M. Kuppan Chetty
Publisher:
ISBN: 9789533078427
Category :
Languages : en
Pages :

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Author: Robert Murphey
Publisher: Springer Science & Business Media
ISBN: 1402005490
Category : Business & Economics
Languages : en
Pages : 306

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Table of contents

Author: Cristian Mahulea
Publisher: John Wiley & Sons
ISBN: 1119486327
Category : Technology & Engineering
Languages : en
Pages : 240

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Book Description
Offers an integrated presentation for path planning and motion control of cooperative mobile robots using discrete-event system principles Generating feasible paths or routes between a given starting position and a goal or target position—while avoiding obstacles—is a common issue for all mobile robots. This book formulates the problem of path planning of cooperative mobile robots by using the paradigm of discrete-event systems. It presents everything readers need to know about discrete event system models—mainly Finite State Automata (FSA) and Petri Nets (PN)—and methods for centralized path planning and control of teams of identical mobile robots. Path Planning of Cooperative Mobile Robots Using Discrete Event Models begins with a brief definition of the Path Planning and Motion Control problems and their state of the art. It then presents different types of discrete models such as FSA and PNs. The RMTool MATLAB toolbox is described thereafter, for readers who will need it to provide numerical experiments in the last section. The book also discusses cell decomposition approaches and shows how the divided environment can be translated into an FSA by assigning to each cell a discrete state, while the adjacent relation together with the robot's dynamics implies the discrete transitions. Highlighting the benefits of Boolean Logic, Linear Temporal Logic, cell decomposition, Finite State Automata modeling, and Petri Nets, this book also: Synthesizes automatic strategies based on Discrete Event Systems (DES) for path planning and motion control and offers software implementations for the involved algorithms Provides a tutorial for motion planning introductory courses or related simulation-based projects using a MATLAB package called RMTool (Robot Motion Toolbox) Includes simulations for problems solved by methodologies presented in the book Path Planning of Cooperative Mobile Robots Using Discrete Event Models is an ideal book for undergraduate and graduate students and college and university professors in the areas of robotics, artificial intelligence, systems modeling, and autonomous control.

Author: Janusz Bȩdkowski
Publisher: BoD – Books on Demand
ISBN: 9533078421
Category : Technology & Engineering
Languages : en
Pages : 406

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The objective of this book is to cover advances of mobile robotics and related technologies applied for multi robot systems' design and development. Design of control system is a complex issue, requiring the application of information technologies to link the robots into a single network. Human robot interface becomes a demanding task, especially when we try to use sophisticated methods for brain signal processing. Generated electrophysiological signals can be used to command different devices, such as cars, wheelchair or even video games. A number of developments in navigation and path planning, including parallel programming, can be observed. Cooperative path planning, formation control of multi robotic agents, communication and distance measurement between agents are shown. Training of the mobile robot operators is very difficult task also because of several factors related to different task execution. The presented improvement is related to environment model generation based on autonomous mobile robot observations.

Author: Chin Pei Tang
Publisher:
ISBN:
Category :
Languages : en
Pages : 158

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This dissertation examines development of a framework to achieve cooperative payload transport and manipulation by teams of multiple wheeled mobile robots. Interest in such cooperative systems typically arises when certain tasks are either too complex to be performed by a single agent, or when there are distinct benefits in terms of redundancy, robustness and reliability that accrue by many simple cooperative robotic modules. However, the mechanical capability of both the individual modules as well as their interactions can significantly affect the overall system performance.^Hence, we address various fundamental issues in terms of the design analysis, motion planning and control to equip the robotic modules with mechanical level system-based thinking to realize the physically tight cooperative payload transport task. We begin by the preliminary investigation of the development and evaluation of alternate distributed formulations for dynamic simulation of constrained multibody systems. Two computation methods are compared and evaluated in detailed using the benchmark problem of a four-bar linkage. Although the examination is preliminary, the contribution of this work is to establish a framework to simulate larger cooperative systems with more constraints in a distributed manner. We then investigate the optimal relative layout for members of a team of differentially-driven wheeled mobile robots (DD-WMRs) moving in formation for ultimate deployment in cooperative payload transport tasks.^The contribution of this work is on the modeling of such formation and the development of the optimal motion plans in an "energy efficient" manner globally over a prescribed trajectory using the tools from differential geometry. This work provides the global optimal motion plans that improves the formal local optimization framework presented in [1], which results in smoother collective maneuvers. However, the various individual modules contribute both constraints and capabilities to the cooperative system. Thus, we also seek to examine the performance of such cooperative system composed from the capabilities of the individual wheeled mobile manipulator agents using the tools from screw theory. We argue that a proper design can provide the cooperative system capabilities to: (a) accommodate/create arbitrary payload motions, and (b) support/resist arbitrary payload forces.^The contribution of this work is to carefully examine the system level performance in terms of reconfigurability and actuation requirements. Finally, we examine the use of differential flatness to provide a convenient and formal method to integrate both (point-to-point) motion planning and control of nonholonomic mobile robot systems. The contribution of this work is to develop such control framework for wheeled mobile manipulators and evaluated in the hardware-in-the-loop experimental framework.

Author: Hyo-Sung Ahn
Publisher: Springer
ISBN: 3030151875
Category : Technology & Engineering
Languages : en
Pages : 360

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This monograph introduces recent developments in formation control of distributed-agent systems. Eschewing the traditional concern with the dynamic characteristics of individual agents, the book proposes a treatment that studies the formation control problem in terms of interactions among agents including factors such as sensing topology, communication and actuation topologies, and computations. Keeping pace with recent technological advancements in control, communications, sensing and computation that have begun to bring the applications of distributed-systems theory out of the industrial sphere and into that of day-to-day life, this monograph provides distributed control algorithms for a group of agents that may behave together. Unlike traditional control laws that usually require measurements with respect to a global coordinate frame and communications between a centralized operation center and agents, this book provides control laws that require only relative measurements and communications between agents without interaction with a centralized operator. Since the control algorithms presented in this book do not require any global sensing and any information exchanges with a centralized operation center, they can be realized in a fully distributed way, which significantly reduces the operation and implementation costs of a group of agents. Formation Control will give both students and researchers interested in pursuing this field a good grounding on which to base their work.

Author: Stephan Opfer
Publisher:
ISBN: 9789533078427
Category :
Languages : en
Pages :

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Author: Sergiy Butenko
Publisher: Springer Science & Business Media
ISBN: 1475737580
Category : Mathematics
Languages : en
Pages : 365

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Book Description
During the last decades, considerable progress has been observed in all aspects regarding the study of cooperative systems including modeling of cooperative systems, resource allocation, discrete event driven dynamical control, continuous and hybrid dynamical control, and theory of the interaction of information, control, and hierarchy. Solution methods have been proposed using control and optimization approaches, emergent rule based techniques, game theoretic and team theoretic approaches. Measures of performance have been suggested that include the effects of hierarchies and information structures on solutions, performance bounds, concepts of convergence and stability, and problem complexity. These and other topics were discusses at the Second Annual Conference on Cooperative Control and Optimization in Gainesville, Florida. Refereed papers written by selected conference participants from the conference are gathered in this volume, which presents problem models, theoretical results, and algorithms for various aspects of cooperative control. Audience: The book is addressed to faculty, graduate students, and researchers in optimization and control, computer sciences and engineering.

Author: Sentang Wu
Publisher: Springer
ISBN: 9811309531
Category : Technology & Engineering
Languages : en
Pages : 367

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This book primarily illustrates the rationale, design and technical realization/verification for the cooperative guidance and control systems (CGCSs) of missile autonomous formation (MAF). From the seven functions to the five major compositions of CGCS, the book systematically explains the theory and modeling, analysis, synthesis and design of CGCSs for MAF, including bionics-based theories. Further, the book addresses how to create corresponding digital simulation analysis systems, as well as hardware in the loop (HIL) simulation test systems and flight test systems, to evaluate the combat effectiveness of MAF. Lastly, it provides detailed information on digital simulation analysis for a large range of wind tunnel test data, as well as test results of HIL system simulations and embedded systems testing.

Author: Management Association, Information Resources
Publisher: IGI Global
ISBN: 1799817555
Category : Technology & Engineering
Languages : en
Pages : 2075

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Book Description
Through expanded intelligence, the use of robotics has fundamentally transformed a variety of fields, including manufacturing, aerospace, medicine, social services, and agriculture. Continued research on robotic design is critical to solving various dynamic obstacles individuals, enterprises, and humanity at large face on a daily basis. Robotic Systems: Concepts, Methodologies, Tools, and Applications is a vital reference source that delves into the current issues, methodologies, and trends relating to advanced robotic technology in the modern world. Highlighting a range of topics such as mechatronics, cybernetics, and human-computer interaction, this multi-volume book is ideally designed for robotics engineers, mechanical engineers, robotics technicians, operators, software engineers, designers, programmers, industry professionals, researchers, students, academicians, and computer practitioners seeking current research on developing innovative ideas for intelligent and autonomous robotics systems.