• Journal of Institute of Control, Robotics and Systems
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• v.16 no.2
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• pp.114-119
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• 2010

Network technology has been developed rapidly for digital service in these days. ZigBee, one of the IEEE 802.15.4 protocols, supporting local communication has become the core technology in the wireless network area. In this paper we designed an integrated fire monitoring system using a mobile robot and the ZigBee sensor nodes which are deployed to monitor fires. When a fire breaks out, the image information of the scene of a fire is transmitted by an autonomous mobile robot and we also monitor the current position of the robot. Furthermore, the data around the place where the fire breaks out and the positions of the sensor nodes can be transmitted to a server via the multi-hop communication in the real time.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.468-472
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• 1992

In recent years, lots of researches on autonomous mobile robot have been accomplished. However they focused on environment recognition and its processing to make a decision on the motion, And cooperative multi-robot, which must be able to avoid crash and to make mutual communication, has not been studied much. This paper deals with cooperative motion of two robots, 'Meari 1" and "Meari 2 " made in our laboratory, based on communication between the two. Because there is an interference on communication occurring in cooperative motion of multi-robot, many restrictive conditions are required. Therefore, we have designed these robot system so that communication between them is available and mutual interference is precluded, and we used fuzzy interference to overcome unstability of sensor data.of sensor data.

• International Journal of Internet, Broadcasting and Communication
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• v.16 no.3
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• pp.205-211
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• 2024

Effective warehouse management requires advanced resource planning to optimize profits and space. Robots offer a promising solution, but their effectiveness relies on embedded artificial intelligence. Multi-agent reinforcement learning (MARL) enhances robot intelligence in these environments. This study explores various MARL algorithms using the Multi-Robot Warehouse Environment (RWARE) to determine their suitability for warehouse resource planning. Our findings show that cooperative MARL is essential for effective warehouse management. IA2C outperforms MAA2C and VDA2C on smaller maps, while VDA2C excels on larger maps. IA2C's decentralized approach, focusing on cooperation over collaboration, allows for higher reward collection in smaller environments. However, as map size increases, reward collection decreases due to the need for extensive exploration. This study highlights the importance of selecting the appropriate MARL algorithm based on the specific warehouse environment's requirements and scale.

• IEMEK Journal of Embedded Systems and Applications
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• v.2 no.4
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• pp.221-226
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• 2007

This paper propose a control network system based on IEEE1394 for a multi body robot control. The IEEE1394 has the characteristic of high speed(400Mbps), real-time, stability and plug&play. And IEEE1394 also supports freeform daisy chaining, branching and hot plugging, which reduce cabling complexity and make a system simple. Especially, multi host and broad casting support network data sharing method which is suitable for control network for multi body robot. Through experiment, we show that the proposed control network can interface 48 joints (BLDC motors, gears, and encoders) and four 6-axis force/torque sensors with 4Khz communication bandwidth, which is adequate for a multi body robot.

• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.3
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• pp.553-558
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• 2012

An effort for motion control of multi-axis in robot have been continued recently. In this paper, we propose implementation method for AC servo driver that can be easily motion control of multi-axis in robot. This proposed method implement EtherCAT communication technologies of bi-directional optical communication based on single optical core method that applied WDM for communication between control stage which is upper and AC servo drive stage.

• Proceedings of the KIPE Conference
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• 2007.07a
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• pp.491-493
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• 2007

This paper is suggesting the method to embody Multi-Axes robot controller by using CAN which has been the most popular industrial networks. The robot controller guarantees the efficiency and reliability by using CAN as a communication tool between upper robot control parts and lower control parts.

• The Journal of Korea Robotics Society
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• v.6 no.1
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• pp.1-9
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• 2011

An increasing number of researches and developments for personal or professional service robots are attracting a lot of attention and interest industrially and academically during the past decade. Furthermore, the development of intelligent robots is intensively fostered as strategic industry. Until now, most of practical and commercial service robots are worked by remotely operated controller. The most important technical issue of remote control is a wireless communication, especially in the indoor and unstructured environments where communication infrastructures might be destroyed by various disasters. Therefore we propose a multi-robot following navigation method for securing the valid communication distance extension of the remote control based on WPAN(Wireless Personal Area Networks). The concept and implementation of following navigation are introduced and the performance verification is performed through real navigation experiments in real or test-bed environments.

• Proceedings of the KAIS Fall Conference
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• 2004.11a
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• pp.166-169
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• 2004

In this paper show how to design a redundant robot which is suitable for the multiple task without any constraints on the workspace. The implementation is possible by the rigid connection of a mobile robot and a task robot. Use a five joint articulated robot as the task robot; designed the 3 joint mobile robot for this usage. For a task execution assigned to the redundant robot, not only the task robot but the mobile robot should work in the coordinated way. therefore, a kinematic connection of the two robots should be cleary represented in a frame. And, also the dynamic interaction between the two robots needs to be analyzed. Clarified these issues considering the control of the redundant robot. Finally, demonstrate away of utilization of the redundancy as the cooperation between the mobile robot and the task robot to execute a common task.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.608-611
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• 1997

The soccer robot system consists of multi agents, with highly coordinated operation and movements so as to fulfill specific objectives, even under adverse situation. The coordination of the multi-agents is associated with a lot of supplementary work in advance. The associated issues are the position correction, prevention of communication congestion, local information sensing in addition to the need for imitating the human-like decision making. A control structure for soccer robot is designed and several behaviors and actions for a soccer robot are proposed. Variable zone defense as a basic strategy and several special strategies for fouls are applied to SOTY2 team.

• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.765-766
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• 2006

The ecology of Physically Embedded Intelligent Systems (PEIS) is a new multi robotic framework conceived by integrating insights from the fields of autonomous robotics and ambient intelligence. A PEIS-Ecology is a network of intelligent robotic devices that can provide the user with assistance, information, communication, and entertainment services. In this paper we introduce the concept of PEIS Ecology, and illustrate a concrete realization of a PEIS-Ecology.