[PDF] A Mission Planning System For Multiple Mobile Robots In Unknown Unstructured And Changing Environments eBook

Author : Barry L. Brumitt
Publisher :
Page : 126 pages
File Size : 28,63 MB
Release : 1998
Category : Autonomous robots
ISBN :

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Abstract: "Research in autonomous mobile robots has reached a level of maturity where robotic systems can be expected to efficiently perform complex missions involving multiple agents in unstructured environments. Across a wide space of real-world tasks, particularly those which are expensive or risk-intensive, efficient teams of autonomous cooperative mobile robots could provide a valuable alternative to current solutions. Through the distribution of computation, perception, and action, a cooperative robot team is more capable than the sum of its parts, as this team exhibits increased reliability and the ability to complete physically distributed tasks. For multiple mobile robots to be effective in real-world applications, more than one robot must be able to safely share a potentially unknown workspace. Complicated missions with interdependencies between these robots must be feasible. Finally, robotic systems must accommodate an operational environment which is not necessarily static, certain, or known in advance. Many tasks which are likely candidates for robotic automation (such as hazardous waste site remediation, planetary exploration, materials handling and military reconnaissance), require a robot team to perform an essentially mobile mission which involves robots moving between significant locations. It is important that these missions be completed efficiently, appropriately minimizing the cost of the task. The similarities among these tasks indicate that a single general system could support coordinated mission execution for many scenarios. To this end, GRAMMPS (a General Robotic Autonomous Mobile Mission Planning System) has been developed. GRAMMPS supports the optimization of real-world missions involving multiple robots and multiple concurrent goals. The largest component of GRAMMPS is its central planner, which continuously optimizes the execution of a multi-robot mission as information about the world is acquired. GRAMMPS distributes its computation, gracefully degrades from optimal performance when presented with computationally intractable missions, and performs efficient replanning in an unknown, unstructured, and changing environment. This system has been demonstrated on two autonomous outdoor mobile robots and extensively validated in simulation."

Author : Eugene Kagan
Publisher : John Wiley & Sons
Page : 415 pages
File Size : 18,36 MB
Release : 2019-09-04
Category : Technology & Engineering
ISBN : 1119213169

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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 : Shiping Liu
Publisher : John Wiley & Sons
Page : 266 pages
File Size : 31,6 MB
Release : 2019-02-11
Category : Technology & Engineering
ISBN : 1119422485

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A comprehensive guide to the friction, contact and impact on robot control and force feedback mechanism Dynamics and Control of Robotic Manipulators with Contact and Friction offers an authoritative guide to the basic principles of robot dynamics and control with a focus on contact and friction. The authors discuss problems in interaction between human and real or virtual robot where dynamics with friction and contact are relevant. The book fills a void in the literature with a need for a text that considers the contact and friction generated in robot joints during their movements. Designed as a practical resource, the text provides the information needed for task planning in view of contact, impact and friction for the designer of a robot control system for high accuracy and long durability. The authors include a review of the most up-to-date advancements in robot dynamics and control. It contains a comprehensive resource to the effective design and fabrication of robot systems and components for engineering and scientific purposes. This important guide: Offers a comprehensive reference with systematic treatment and a unified framework Includes simulation and experiments used in dynamics and control of robot considering contact, impact and friction Discusses the most current tribology methodology used to treat the multiple–scale effects Contains valuable descriptions of experiments and software used Presents illustrative accounts on the methods employed to handle friction in the closed loop, including the principles, implementation, application scope, merits and demerits Offers a cohesive treatment that covers tribology and multi-scales, multi-physics and nonlinear stochastic dynamics control Written for graduate students of robotics, mechatronics, mechanical engineering, tracking control and practicing professionals and industrial researchers, Dynamics and Control of Robotic Manipulators with Contact and Friction offers a review to effective design and fabrication of stable and durable robot system and components.

Author :
Publisher :
Page : pages
File Size : 41,39 MB
Release : 2018
Category :
ISBN :

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Abstract : Success of numerous long-term robotic explorations in air, on the ground, and under water is dependent on the ability of the robots to operate for an extended period of time. The continuous operation of robots hinges on smart energy consumption and replenishment of the robots. This dissertation addresses the multi-robot system continuous operation problem by developing two mission planning architectures regarding two types of energy replenishment, which can be adapted to different mission scenarios based on mission requirements and available resources. The first type of energy replenishment utilizes static charging stations to provide a recharging opportunity to primary working robots, who can periodically revisit static charging stations to be recharged through the mission. The static energy replenishment mission planning method simultaneously generates energy efficient trajectories for multiple robots and schedules energy cycling using a Genetic Algorithm (GA). The mission planning method accounts for environmental obstacles, disturbances, and can adapt to priority search distribution. The second energy replenishment approach extends working robots operation by deploying a team of mobile charging stations to rendezvous and charge working robots. A graph transformation method is developed for mobile charging stations to solve persistent operation problem of working robots with pre-defined trajectories. Consideration of dynamic currents effect and obstacles are integrated into the method. To optimize trajectories of both working robots and mobile charging stations, a GA based mission planning method is designed with the capability of re-planning to account for mission uncertainty. Simulation validations are performed through solving long-term mission planning problems. A variety of real-world mission scenarios employing teams of underwater, aerial, and ground robots are simulated with multiple mission objectives under various environmental and robot constraints. The effectiveness of both developed mission planning methods in area coverage, handling energy limitations, and mission constraints are discussed and analyzed by numerical studies.