• Title/Summary/Keyword: multi-robot system

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Intelligent Hybrid Modular Architecture for Multi Agent System

  • Lee, Dong-Hun;Baek, Seung-Min;Kuc, Tae-Yong;Chung, Chae-Wook
    • 제어로봇시스템학회:학술대회논문집
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    • pp.896-902
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    • 2004
  • The purpose of the study of multi-robot system is to realize multi-robot system easy for the control of robot system in case robot is adapted in the complicated environment of task structure. The purpose of the study of multi-robot system is to realize multi-robot system easy for the control of robot system in case robot is adapted in the complicated environment of task structure. To make real time control possible by making effective use of recognized information in this dynamic environment, suitable distribution of tasks should be made in consideration of function and role of each performing robots. In this paper, IHMA (Intelligent Hybrid Modular Architecture) of Intelligent combined control architecture which utilizes the merits of deliberative and reactive controllers will be suggested and its efficiency will be evaluated through the adaptation of control architecture to representative multi-robot system.

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Cooperative Foraging Behavior of Multi Robot System with Simple Interaction

  • Sugawara, Ken;Sano, Masaki;Yoshihara, Ikuo;Abe, Kenichi;Watanabe, Toshinori
    • 제어로봇시스템학회:학술대회논문집
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    • pp.155.3-155
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    • 2001
  • Researches of multi-robot system are active in these days. The most remarkable characteristic of multirobot system is that the robots work cooperatively and achieve the task which a single robot cannot do. It is essential to investigate number effect of multi-robot system. In this paper, we chose foraging task and investigated their behavior. At first, we investigated the foraging behavior in case that interaction range is Infinite. Secondly, we investigated the behavior in case that interaction range is finite. In both case, we find out there is an optimum interaction duration.

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Centralized, Distributed, Hybrid Task Planning Framework for Multi-Robot System in Diverse Communication Status

  • Moon, Jiyoun
    • Journal of Positioning, Navigation, and Timing
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    • v.10 no.3
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    • pp.215-220
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    • 2021
  • As the role of robots expands, flexible task planning methods are attracting attention from various domains. Many task planning frameworks are introduced to efficiently work in a wide range of areas. In order to work well in a broad region with multiple robots, various communication conditions should be controlled by task planning frameworks. However, few methods are proposed. In this paper, we propose mission planning methods according to the communication status of robots. The proposed method was verified through experiments assuming different communication states with a multi-robot system.

Performance Evaluation of Multi-Hop Communication Based on a Mobile Multi-Robot System in a Subterranean Laneway

  • Liu, Qing-Ling;Oh, Duk-Hwan
    • Journal of Information Processing Systems
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    • v.8 no.3
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    • pp.471-482
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    • 2012
  • For disaster exploration and surveillance application, this paper aims to present a novel application of a multi-robot agent based on WSN and to evaluate a multi-hop communication caused by the robotics correspondingly, which are used in the uncertain and unknown subterranean tunnel. A Primary-Scout Multi-Robot System (PS-MRS) was proposed. A chain topology in a subterranean environment was implemented using a trimmed ZigBee2006 protocol stack to build the multi-hop communication network. The ZigBee IC-CC2530 modular circuit was adapted by mounting it on the PS-MRS. A physical experiment based on the strategy of PS-MRS was used in this paper to evaluate the efficiency of multi-hop communication and to realize the delivery of data packets in an unknown and uncertain underground laboratory environment.

An Application of the Force Rllipsoid to the Ooptimal Load Distribution of Cooperating Robots (힘 타원을 이용한 다중 협력 작업 로봇의 최적 부하 분배에 관한 연구)

  • 서창원;최명환;조혜경;이범희;고명삼
    • 제어로봇시스템학회:학술대회논문집
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    • pp.162-167
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    • 1991
  • The manipulability ellipsoid and the force ellipsoid for a single robot are extended to the case of a multi-robot system. The force ellipsoid is applied to solve the optimal load distribution for the multi-robot system. Two cases are considered in solving the optimal load distribution. In one case, there are no constraints on the joint torques, and the analytic solution ;a given. In the other case, the torque constraints are given in terms of the maximum power consumption, and the algorithm for the solution is proposed.

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Effective Map Building Using a Wave Algorithm in a Multi-Robot System

  • Saitov, Dilshat;Umirov, Ulugbek;Park, Jung-Il;Choi, Jung-Won;Lee, Suk-Gyu
    • International Journal of Precision Engineering and Manufacturing
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    • v.9 no.2
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    • pp.69-74
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    • 2008
  • Robotics and artificial intelligence are components of IT that involve networks, electrical and electronic engineering, and wireless communication. We consider an algorithm for efficient navigation by building a precise map in a multi-robot system under conditions of limited and unlimited communications. The basis of the navigation algorithm described in this paper is a wave algorithm, which is effective in obtaining an accurate map. Each robot in a multi-robot system has its own task such as building a map for its local position. By combining their data into a shared map, the robots can actively seek to verify their relative locations. Using shared maps, they coordinate their exploration strategies to maximize exploration efficiency. To prove the efficiency of the proposed technique, we compared the final results with the results in $Burgard^{8}$ and $Stachniss.^{9-10}$ All of the simulation comparisons, which are shown as graphs, were made in four different environments.

Collision Avoidance Method Using Minimum Distance Functions for Multi-Robot System (최소거리함수를 이용한 다중 로보트 시스템에서의 충돌회피 방법)

  • Chang, C.;Chung, M.J.
    • Proceedings of the KIEE Conference
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    • pp.425-429
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    • 1987
  • This paper describes a collision avoidance method for planning safe trajectories for multi-robot system in common work space. Usually objects have been approximated to convex polyhedra in most previous researches, but in case using such the approximation method it is difficult to represent objects analytically in terms of functions and also to describe tile relationship between the objects. In this paper, in order to solve such problems a modeling method which approximates objects to cylinder ended by hemispheres and or sphere is used and the maximum distance functions is defined which call be calculated simply. Using an objective function with inequality constraints which are related to minimum distance functions, work range and maximum allowable angular velocities of the robots, tile collision avoidance for two robots is formulated to a constrained function optimization problem. With a view to solve tile problem a penalty function having simple form is defined and used. A simple numerical example involving two PUMA-type robots is described.

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A design of supervisory control system for a multi-robot system (다중로봇을 휘한 관리제어 시스템의 설계)

  • 서일홍;여희주;김재현;류종석;오상록
    • The Transactions of the Korean Institute of Electrical Engineers
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    • v.45 no.1
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    • pp.100-112
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    • 1996
  • This paper presents a design experience of a control language for coordination of a multi-robot system. To effectively program job commands, a Petrinet-type Graphical Robot Language(PGRL) is proposed, where some functions, such as concurrency and synchronization, for coordination among tasks can be easily programmed.In our system, the proposed task commands of PGRL are implemented by employing formal model languages, which are composed of three modules, sensory, data handling, and action module. It is expected that by using our proposed PGRL and formal languages, one can easily describe a job or task, and hence can effectively operate a complex real-time and concurrent system. The control system is being implemented by using VME-based 32-bit microprocessor boards for supervisory, each module controller(arm, hand, leg, sensor data processing module) and a real time multi-tasking operating system(VxWorks). (author). 17 refs., 16 figs., 2 tabs.

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Off-Line Programming for Task Teaching in a Muti-Robot System (다중 로봇의 작업 교시를 위한 오프라인 프로그래밍)

  • Kim, Dae-Kwang;Kang, Sung-Kyun;Son, Kwon
    • 제어로봇시스템학회:학술대회논문집
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    • pp.412-412
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    • 2000
  • This paper presents a task teaching method for off-line programming of a multi-robot system. Teaching commands were developed in order to simplify a complex teaching process, to shorten the setup time for new working environment and to have flexibility for changes in working environment. Four teaching commands can be used to automatically generate trajectories of an end-effector of the robot in electronics assembly line. The robots used in the work cell are a four-axis SCARA robot and six-axis articulated robot. Each robot is controlled in a independent way while objects, working environment and robots are modeled in corresponding modules, respectively. The off- line programming system developed uses OpenGL for a smooth graphic effect in Window s where three dimensional CAD data can be leaded for graphical modeling.

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