• Title/Summary/Keyword: multi-robot system

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A new derivation method of the generalized Jacobian matrix of a space robot and its application to a multi-robot system

  • Kobayashi, Jun;Nakatsuka, Keiichi;Katoh, Ryozo;Ohkawa, Fujio
    • 제어로봇시스템학회:학술대회논문집
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    • pp.799-802
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    • 1997
  • This paper deals with a new method to derive the Generalized Jacobian Matrix of a space robot. In a conventional method to derive the Generalized Jacobian Matrix, generalized coordinates select Joint angles and a space robot body's position and attitude angle. But, in this paper, we select position and attitude angle of the end-effector or the handled floating object as generalized coordinates. Then, we can derive the Generalized Jacobian Matrix of the system which consists of several space robots and a handled floating object. Moreover control methods operated by only one space robot can be easily extended to the cases of cooperation task by several space robots. Computer simulations show that the Generalized Jacobian Matrix derived here is effective.

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Mobile Robots for the Concrete Crack Search and Sealing (콘크리트 크랙 탐색 및 실링을 위한 다수의 자율주행로봇)

  • Jin, Sung-Hun;Cho, Cheol-Joo;Lim, Kye-Young
    • The Journal of Korea Robotics Society
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    • v.11 no.2
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    • pp.60-72
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    • 2016
  • This study proposes a multi-robot system, using multiple autonomous robots, to explore concrete structures and assist in their maintenance by sealing any cracks present in the structure. The proposed system employed a new self-localization method that is essential for autonomous robots, along with a visualization system to recognize the external environment and to detect and explore cracks efficiently. Moreover, more efficient crack search in an unknown environment became possible by arranging the robots into search areas divided depending on the surrounding situations. Operations with increased efficiency were also realized by overcoming the disadvantages of the infeasible logical behavioral model design with only six basic behavioral strategies based on distributed control-one of the methods to control swarm robots. Finally, this study investigated the efficiency of the proposed multi-robot system via basic sensor testing and simulation.

Development of a Multi-Robot Control Language (다중 로보트 제어 언어 개발)

  • Kim, Tae-Won;Suh, Il-Hong;Oh, Young-Suk
    • Proceedings of the KIEE Conference
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    • pp.446-449
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    • 1990
  • A Multi-Robot Control language (MRCL) is proposed to effectively control the multi-robot. MRCL has not only single-robot, command, but multi-robot command with multi-task OS, XINU. Concurrent motion, coordinate motion, and simple collision avoidance motion are implemented. This language is expected to act as a intelligent supporting tool for multi-robot system. To verify the effectiveness of the MRCL, a simple puzzle matching example is illustrated.

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Composition of real-time robot workcell using token-bus

  • Kim, Dong-Jun;Kim, Kab-Il
    • 제어로봇시스템학회:학술대회논문집
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    • pp.251-256
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    • 1994
  • Integration of intelligent robot workcell is now a hot issue in CIM and robotics area. This piper dealt with relatively low-level essential topics, i.e., multi-robot coordination and real-time communication for the integration of intelligent robot workcell. For the coordination of multi-robot system, the tightly-coupled coordination is proposed using the various sensors. In order to handle the numerous communication data, time-critical communication network (Field-bus) is introduced and investigated. Finally, intelligent robot workcell is suggested using the Mini-MAP and Field-bus.

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Job scheduling and performance evaluation of MRS(Multi Robot System) (다중 로보트 시스템의 작업 스케쥴링 및 성능 평가)

  • 이기동;조혜경;이범희;고명삼
    • 제어로봇시스템학회:학술대회논문집
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    • pp.423-428
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    • 1990
  • A mixed IP formulation is presented which concurrently routes and sequences the tasks on the MRS, reflecting the flexible characteristics. As a preliminary work for the performance evaluation of the MRS, a two robot system working on independent tasks is studied. Models for three types of the system capable of simple error recovery function are established using queueing model, and performances are evaluated and analysed.

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Cooperative Particle Swarm Optimization-based Model Predictive Control for Multi-Robot Formation (군집 로봇 편대 제어를 위한 협력 입자 군집 최적화 알고리즘 기반 모델 예측 제어 기법)

  • Lee, Seung-Mok;Kim, Hanguen;Myung, Hyun
    • Journal of Institute of Control, Robotics and Systems
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    • v.19 no.5
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    • pp.429-434
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    • 2013
  • This paper proposes a CPSO (Cooperative Particle Swarm Optimization)-based MPC (Model Predictive Control) scheme to deal with formation control problem of multiple nonholonomic mobile robots. In a distributed MPC framework, each robot needs to optimize control input sequence over a finite prediction horizon considering control inputs of the other robots where their cost functions are coupled by the state variables of the neighboring robots. In order to optimize the control input sequence, a CPSO algorithm is adopted and modified to fit into the formation control problem. Experiments are performed on a group of nonholonomic mobile robots to demonstrate the effectiveness of the proposed CPSO-based MPC for multi-robot formation.

Fuzzy-based Path Planning for Multiple Mobile Robots in Unknown Dynamic Environment

  • Zhao, Ran;Lee, Hong-Kyu
    • Journal of Electrical Engineering and Technology
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    • v.12 no.2
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    • pp.918-925
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    • 2017
  • This paper presents a path planning problem for multi-robot system in the environment with dynamic obstacles. In order to guide the robots move along a collision-free path efficiently and reach the goal position quickly, a navigation method based on fuzzy logic controllers has been developed by using proximity sensors. There are two kinds of fuzzy controllers developed in this work, one is used for obstacle avoidance and the other is used for orientation to the target. Both static and dynamic obstacles are included in the environment and the dynamic obstacles are defined with no type of restriction of direction and velocity. Here, the environment is unknown for all the robots and the robots should detect the surrounding information only by the sensors installed on their bodies. The simulation results show that the proposed method has a positive effectiveness for the path planning problem.

Environment Adaptation using Evolutional Interactivity in a Swarm of Robots (진화적 상호작용을 이용한 군집로봇의 환경적응)

  • Moon, Woo-Sung;Jang, Jin-Won;Baek, Kwang-Ryul
    • Journal of Institute of Control, Robotics and Systems
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    • v.16 no.3
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    • pp.227-232
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    • 2010
  • In this paper we consider the multi-robot system that collects target objects spread in an unexplored environment. The robots cooperate each other to improve the capability and the efficiency. The robots attract or intimidate each other as behaviors of bacterial swarms or particles with electrical moments. The interactions would increase the working efficiency in some environments but it would decrease the efficiency in some other environments. Therefore, the system needs to adapt to the working environment by adjusting the strengths of the interactions. The strengths of the interactions are expressed as sets of gene codes that mean the weights of each kind of attracting or intimidating vectors. The proposed system adjusts the gene codes using evolutional strategy. The proposed approach has been validated by computer simulation. The results of this paper show that our inter-swarm interacting strategy and optimizing algorithm improves the working efficiency, adaptively to the characteristics of environments.

A study on the Integration of Intelligent Robot Workcell using Real Time Communication (실시간 통신을 사용한 Intelligent Robot Workcell의 구성에 관한 연구)

  • Kim, Dong-Jun;Kim, Kab-Il;Jang, Hyuk-Soo;Lee, Byung-Do
    • Proceedings of the KIEE Conference
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    • pp.406-409
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    • 1993
  • Integration of intelligent robot workcell is now a hot issue in CIM and robotics area. This paper dealt with relatively low level essential topics. i. e., multi-robot coordination and real-time communication for the integration of intelligent robot workcell. For the coordination of multi-robot system, the tightly-coupled coordination is proposed using the various sensors. In order to handle the numerous communication data, time-critical communication network (field-bus) is introduced and investigated. Finally, intelligent robot workcell is suggested using the mini-MAP and field-bus.

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On-line Modeling of Robot Assembly with Uncertainties (불확실한 환경에서의 조립 작업을 위한 온라인 모델링 방법)

  • 정성엽;황면중
    • Journal of Institute of Control, Robotics and Systems
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    • v.10 no.10
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    • pp.878-886
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    • 2004
  • Uncertainties are inevitable in robotic assembly in unstructured environment since it is difficult to construct fixtures to guide motions of robots. This paper proposes an augmented Petri net and an algorithm to adapt the assembly model on-line during actual assembly process. The augmented Petri net identifies events using force and position information simultaneously. Unmodeled contact states are identified and incorporated into the model on-line. The proposed method increases the level of intelligence of the robot system by enhancing the autonomy. The proposed method is evaluated by simulation and experiments with L-type peg-in-hole assembly using a two-arm robot system.