• 제어로봇시스템학회논문지
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• 제16권2호
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• pp.107-113
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• 2010

In this paper, a prototype of cooperative work model for multi-robots system is introduced and the evolutionary approach is applied to generate the motions for the cooperative works of multi-robots system using genetic algorithm. The cooperative tasks can be performed by a humanoid robot and a mobile robot to deliver objects from shelves. Generation of the humanoid motions such as pick up, rotation, and place operation for the cooperative works are evolved. Modeling and computer simulation for the cooperative robots system are executed in Webots environments. Experimental results show the feasible and reasonable solutions for humanoid cooperative tasks are obtained.

• 한국자동차공학회논문집
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• 제12권4호
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• pp.129-138
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• 2004

In this paper, we propose a method to apply a decentralized control algorithm for passive velocity field control using virtual flywheel system to cooperative 3-wheeled mobile robots, and these subsystem are under nonholonomic constraints. The considered robotic systems convey a common rigid object in a horizontal plain. Moreover we will proof the passivity and robustness for cooperative mobile robotic systems with decentralized passive velocity field control. Finally, The effectiveness of proposed control algorithm is examined by numerical simulation for cooperation tasks with 3-wheeled mobile robot systems.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.743-746
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• 1996

A hybrid control scheme to regulate the force and position by dual arms is proposed, where two arms are treated as one arm in a kinematic viewpoint. Our approach is different from other hybrid control approaches which consider robot dynamics, in the sense that we employ a purely kinematic based approach for hybrid control, with regard to the nature of position-controlled industrial robots. The proposed scheme is applied to sawing task. In the sawing task, the trajectory of the saw grasped by dual arms is planned in an offline fashion. When the trajectory of the saw is planned to follow a line in a horizontal plane, 3 position parameters are to be controlled(i.e, two translational positions and one rotational position). And a certain level of contact force has to be controlled along the vertical direction(i.e., minus z-direction) not to loose the contact with the object to be sawn. Typical feature of sawing task is that the contact position where the force control is to be performed is continuously changing. Therefore, the kinematic mapping between the force controlled position and the joint actuators has to be updated continuously. The effectiveness of the proposed control scheme is experimentally demonstrated. The proposed hybrid control scheme can be applied to arbitrary dual arm systems, regardless of their kinematic structure and the number of actuated joints.

• 제어로봇시스템학회논문지
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• 제6권12호
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• pp.1079-1085
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• 2000

In this paper, we propose a method of cooperative control (T-cell modeling) and selection of group behavior strategy (B-cell modeling) based on immune system in distributed autonomous robotic system (DARS). An immune system is the living bodys self-protection and self-maintenance system. these features can be applied to decision making of the optimal swarm behavior in a dynamically changing environment. For applying immune system to DARS, a robot is regarded as a B-cell, each environmental condition as an antigen, a behavior strategy as an antibody, and control parameter as a T-cell, respectively. When the environmental condition (antigen) changes, a robot selects an appropriate behavior strategy (antibody). And its behavior strategy is stimulated and suppressed by other robots using communication (immune network). Finally, much stimulated strategy is adopted as a swarm behavior strategy. This control scheme is based on clonal selection and immune network hypothesis, and it is used for decision making of the optimal swarm strategy. Adaptation ability of the robot is enhanced by adding T-cell model as a control parameter in dynamic environments.

• 제어로봇시스템학회논문지
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• 제19권5호
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• pp.390-397
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• 2013

This paper presents a consensus algorithm for uMAS (uncertain Multi-Agent Systems). Unlike previous results in which only nominal models for agents are considered, it is assumed that the uncertain agent model belongs to a known polytope set. In the middle of deriving the proposed algorithm, a convex set is found which includes all uncertainties in the problem using convexity of the polytope set. This set plays an important role in designing the consensus algorithm for uMAS. Based on the set, a consensus condition for uMAS is proposed and the corresponding consensus design problem is solved using LMI (Linear Matrix Inequality). Simulation result shows that the proposed consensus algorithm successfully leads to consensus of the state of uMAS.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1996년도 추계학술대회 학술발표 논문집
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• pp.323-326
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• 1996

In this paper, we propose a new method of the communication system for cooperative behavior and control in a collective autonomous mobile robots. A communication function among the collective robots is essential to intelligent cooperation. In general, global communication is effective for small number of robots. However when the number of robot goes on increasing, this becomes difficult to be realized because of limited communication capacity and increasing amount of information to handle. And also the problems such as communication interference and improper message transmission occur. So we propose local communication system based on infrared sensor to realize the cooperative behavior and control as the solution of above problem. It is possible to prevent overflow of information and exchange of complex information by combining communicate a specific robot. At last we verify the effectiveness of the proposed communication system from example of cooperative behavior.