Cooperative Path Planning for Multi-Robot Systems in Dynamic Domains PDF Download

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

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Author: Eugene Kagan
Publisher: John Wiley & Sons
ISBN: 1119212863
Category : Technology & Engineering
Languages : en
Pages : 340

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Book Description
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.

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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Book Description
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: J. Gao
Publisher: IOS Press
ISBN: 1614997926
Category : Business & Economics
Languages : en
Pages : 620

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Book Description
The urgent need to keep pace with the accelerating globalization of manufacturing in the 21st century has produced rapid advances in manufacturing research, development and innovation. This book presents the proceedings of the 15th International Conference on Manufacturing Research (ICMR 2017), which also incorporated the 32nd National Conference on Manufacturing Research (NCMR) and was held at the University of Greenwich, London, UK, in September 2017. The conference brings together a broad community of researchers who share the common goal of developing and managing the technologies and operations key to sustaining the success of manufacturing businesses. The book is divided into 13 parts, covering topics such as advanced manufacturing technologies (including additive, ultra-precision and nano-manufacturing); manufacturing systems (digital and cyber-physical systems); product design and development (including lifecycle management and supply-chain collaboration); information and communication (including innovation and knowledge management); and manufacturing management (including lean, sustainable and cost engineering). With its comprehensive overview of current developments, this book will be of interest to all those involved in manufacturing today.

Author: Antonio Bicchi
Publisher: Springer
ISBN: 3319609165
Category : Technology & Engineering
Languages : en
Pages : 712

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ISRR, the "International Symposium on Robotics Research", is one of robotics pioneering Symposia, which has established over the past two decades some of the field's most fundamental and lasting contributions. This book presents the results of the seventeenth edition of "Robotics Research" ISRR15, offering a collection of a broad range of topics in robotics. The content of the contributions provides a wide coverage of the current state of robotics research.: the advances and challenges in its theoretical foundation and technology basis, and the developments in its traditional and new emerging areas of applications. The diversity, novelty, and span of the work unfolding in these areas reveal the field's increased maturity and expanded scope and define the state of the art of robotics and its future direction.

Author: Marc G. Slack
Publisher:
ISBN:
Category : Computers
Languages : en
Pages : 22

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Author: Yanhao He
Publisher: Logos Verlag Berlin GmbH
ISBN: 3832554408
Category : Technology & Engineering
Languages : en
Pages : 188

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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: Howie Choset
Publisher: MIT Press
ISBN: 9780262033275
Category : Technology & Engineering
Languages : en
Pages : 642

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A text that makes the mathematical underpinnings of robot motion accessible and relates low-level details of implementation to high-level algorithmic concepts. Robot motion planning has become a major focus of robotics. Research findings can be applied not only to robotics but to planning routes on circuit boards, directing digital actors in computer graphics, robot-assisted surgery and medicine, and in novel areas such as drug design and protein folding. This text reflects the great advances that have taken place in the last ten years, including sensor-based planning, probabalistic planning, localization and mapping, and motion planning for dynamic and nonholonomic systems. Its presentation makes the mathematical underpinnings of robot motion accessible to students of computer science and engineering, rleating low-level implementation details to high-level algorithmic concepts.

Author: E. Gil Jones
Publisher:
ISBN:
Category : Mobile robots
Languages : en
Pages : 186

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Book Description
Abstract: "Many applications require teams of robots to cooperatively execute tasks. Among these domains are those in which successful coordination must respect intra-path constraints, which are constraints that occur on the paths of agents and affect route planning. One such domain is disaster response with intra-path constraints, a compelling application that is not well addressed by current coordination methods. In this domain a group of fire truck robots attempt to address a number of fires spread throughout a city in the wake of a large-scale disaster. The disaster has also caused many city roads to be blocked by impassable debris, which can be cleared by bulldozer robots. To produce coordinated agent behavior that satisfies the requirements of this domain entails not only allocating fires to fire trucks, but also determining what routes fire trucks should take given the presence of debris piles and which bulldozers should be assigned to clear debris along those routes. To determine high quality coordinated plans in domains with intra-path constraints requires that agent interactions be considered when making path planning, allocation, and scheduling decisions. This thesis addresses the problem of coordinating agents in such domains, with the goal of determining high quality coordinated behavior while minimizing the time required for computation. Different scenarios involving domains with intra-path constraints will vary in terms of the nature of the constraints, the level of uncertainty in the environment, and the time available for computation. The central contribution of this thesis is a suite of different approaches for effectively coordinating behavior in domains with intra-path constraints, each of which has strengths and weakness and each of which may be the most appropriate given scenario requirements and specifications. One technique we employ is greedy, market-based coordination. In our market-based approaches we seek to exploit the structure and independence inherent in domains with intra-path constraints to develop heuristics and bounding routines that serve to improve the quality of agent behavior while limiting the required computation. Our other primary technique is a randomized evolutionary search method that employs genetic algorithms. The genetic algorithm approach can potentially avoid local performance maxima that can result from using the market-based methods but requires orders of magnitude more computation. In addition to our suite of approaches this thesis formulates domains with intra-path constraints as a distinct problem space within multi-robot literature and compehensively treats the scenario factors that must be considered in approach design. Further contributions include a tiered auction methodology that extends market-based methods to domains where forming accurate bids requires soliciting the help of other agents; the first tractable time-extended allocation approach to domains with intra-path constraints; and the first approach that employs genetic algorithms within a domain where allocation and path-planning are inter-constrained."