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Journal articles on the topic 'Autonomous Robots'
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1
Salavi, Prof A. S., and Prof D. A. Bhosale. "Path Finder Autonomous Robot." International Journal for Research in Applied Science and Engineering Technology 11, no. 3 (March 31, 2023): 1212–15. http://dx.doi.org/10.22214/ijraset.2023.49614.
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Abstract: Now a days many robots have come Developed for automation and navigation is robotics Emerging technologies that reduce human work. Many A variety of robot navigation techniques are available. This is a project to create a robot that finds the world safe way Plan and avoid obstacles. It has an infrared sensor Used to detect obstacles in the robot's path. Robot avoid the obstacles in the way and move forward specific direction. An infrared sensor is used for detection Interrupt and send the information to the controller and then Processing input microcontroller redirects using robots Motors that are controlled by motor drivers.
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BEKEY, GEORGE A. "On autonomous robots." Knowledge Engineering Review 13, no. 2 (July 1998): 143–46. http://dx.doi.org/10.1017/s0269888998002033.
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Autonomous robots are the intelligent agents par excellence. We frequently define a robot as a machine that senses, thinks and acts, i.e., an agent. They are distinguished from software agents in that robots are embodied agents, situated in the real world. As such, they are subject both to the joys and sorrows of the world. They can be touched and seen and heard (sometimes even smelled!), they have physical dimensions, and they can exert force on other objects. These objects can be like a ball in the RoboCup or Mirosot robot soccer games, they can be parts to be assembled, airplanes to be washed, carpets to be vacuumed, terrain to be traversed or cameras to be aimed. On the other hand, since robots are agents in the world they are also subject to its physical laws, they have mass and inertia, their moving parts encounter friction and hence heat, no two parts are precisely alike, measurements are corrupted by noise, and alas, parts break. Of course, robots also contain computers, and hence they are also subject to the slings and arrows of computer misfortunes, both in hardware and software. Finally, the world into which we place these robots keeps changing, it is non-stationary and unstructured, so that we cannot predict its features accurately in advance.
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Ravankar, Abhijeet, Ankit A. Ravankar, Arpit Rawankar, and Yohei Hoshino. "Autonomous and Safe Navigation of Mobile Robots in Vineyard with Smooth Collision Avoidance." Agriculture 11, no. 10 (September 30, 2021): 954. http://dx.doi.org/10.3390/agriculture11100954.
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In recent years, autonomous robots have extensively been used to automate several vineyard tasks. Autonomous navigation is an indispensable component of such field robots. Autonomous and safe navigation has been well studied in indoor environments and many algorithms have been proposed. However, unlike structured indoor environments, vineyards pose special challenges for robot navigation. Particularly, safe robot navigation is crucial to avoid damaging the grapes. In this regard, we propose an algorithm that enables autonomous and safe robot navigation in vineyards. The proposed algorithm relies on data from a Lidar sensor and does not require a GPS. In addition, the proposed algorithm can avoid dynamic obstacles in the vineyard while smoothing the robot’s trajectories. The curvature of the trajectories can be controlled, keeping a safe distance from both the crop and the dynamic obstacles. We have tested the algorithm in both a simulation and with robots in an actual vineyard. The results show that the robot can safely navigate the lanes of the vineyard and smoothly avoid dynamic obstacles such as moving people without abruptly stopping or executing sharp turns. The algorithm performs in real-time and can easily be integrated into robots deployed in vineyards.
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Eda, Tomoyoshi, Tadahiro Hasegawa, Shingo Nakamura, and Shin’ichi Yuta. "Development of Autonomous Mobile Robot “MML-05” Based on i-Cart Mini for Tsukuba Challenge 2015." Journal of Robotics and Mechatronics 28, no. 4 (August 19, 2016): 461–69. http://dx.doi.org/10.20965/jrm.2016.p0461.
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[abstFig src='/00280004/04.jpg' width='300' text='Autonomous mobile robots entered in the Tsukuba Challenge 2015' ] This paper describes a self-localization method for autonomous mobile robots entered in the Tsukuba Challenge 2015. One of the important issues in autonomous mobile robots is accurately estimating self-localization. An occupancy grid map, created manually before self-localization has typically been utilized to estimate the self-localization of autonomous mobile robots. However, it is difficult to create an accurate map of complex courses. We created an occupancy grid map combining local grid maps built using a leaser range finder (LRF) and wheel odometry. In addition, the self-localization of a mobile robot was calculated by integrating self-localization estimated by a map and matching it to wheel odometry information. The experimental results in the final run of the Tsukuba Challenge 2015 showed that the mobile robot traveled autonomously until the 600 m point of the course, where the occupancy grid map ended.
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Akai, Naoki, Yasunari Kakigi, Shogo Yoneyama, and Koichi Ozaki. "Development of Autonomous Mobile Robot that Can Navigate in Rainy Situations." Journal of Robotics and Mechatronics 28, no. 4 (August 19, 2016): 441–50. http://dx.doi.org/10.20965/jrm.2016.p0441.
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[abstFig src='/00280004/02.jpg' width='300' text='Navigation under strong rainy condition' ] The Real World Robot Challenge (RWRC), a technical challenge for mobile outdoor robots, has robots automatically navigate a predetermined path over 1 km with the objective of detecting specific persons. RWRC 2015 was conducted in the rain and every robot could not complete the mission. This was because sensors on the robots detected raindrops and the robots then generated unexpected behavior, indicating the need to study the influence of rain on mobile navigation systems – a study clearly not yet sufficient. We begin by describing our robot’s waterproofing function, followed by investigating the influence of rain on the external sensors commonly used in mobile robot navigation and discuss how the robot navigates autonomous in the rain. We conducted navigation experiments in artificial and actual rainy environments and those results showed that the robot navigates stably in the rain.
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Kurabayashi, Daisuke, and Hajime Asama. "Autonomous Knowledge Acquisition and Revision by Intelligent Data Carriers in a Dynamic Environment." Journal of Robotics and Mechatronics 13, no. 2 (April 20, 2001): 154–59. http://dx.doi.org/10.20965/jrm.2001.p0154.
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In this paper, we built a device and algorithm for implementation in autonomous robots that can enhance efficiency through autonomous knowledge acquisition and sharing. We also propose an algorithm to adapt our robotic system to dynamic environments. In this robotic system, the ""Intelligent Data Carrier"" provides navigational knowledge for autonomous mobile robots. An IDC summarizes fragmyents of knowledge from individual robots and tells the best direction toward a destination at which a robot wants to arrive. We make models of dynamic environments, and investigate the behaviors of autonomous robots that navigate using an intelligent data carrier system. We also create an algorithm that estimates the validity of knowledge in an IDC and allows the IDC to renew the knowledge autonomously. We verify effectiveness of the proposed algorithm by means of simulations.
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Takahashi, Kiyoaki, Takafumi Ono, Tomokazu Takahashi, Masato Suzuki, Yasuhiko Arai, and Seiji Aoyagi. "Performance Evaluation of Robot Localization Using 2D and 3D Point Clouds." Journal of Robotics and Mechatronics 29, no. 5 (October 20, 2017): 928–34. http://dx.doi.org/10.20965/jrm.2017.p0928.
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Autonomous mobile robots need to acquire surrounding environmental information based on which they perform their self-localizations. Current autonomous mobile robots often use point cloud data acquired by laser range finders (LRFs) instead of image data. In the virtual robot autonomous traveling tests we have conducted in this study, we have evaluated the robot’s self-localization performance on Normal Distributions Transform (NDT) scan matching. This was achieved using 2D and 3D point cloud data to assess whether they perform better self-localizations in case of using 3D or 2D point cloud data.
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Alzoubi, Saleem, and Mahdi H. Miraz. "Enhancing Robot Navigation Efficiency Using Cellular Automata with Active Cells." Annals of Emerging Technologies in Computing 8, no. 2 (April 1, 2024): 56–70. http://dx.doi.org/10.33166/aetic.2024.02.005.
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Enhancing robot navigation efficiency is a crucial objective in modern robotics. Robots relying on external navigation systems are often susceptible to electromagnetic interference (EMI) and encounter environmental disturbances, resulting in orientation errors within their surroundings. Therefore, the study employed an internal navigation system to enhance robot navigation efficacy under interference conditions, based on the analysis of the internal parameters and the external signals. This article presents details of the robot’s autonomous operation, which allows for setting the robot's trajectory using an embedded map. The robot’s navigation process involves counting the number of wheel revolutions as well as adjusting wheel orientation after each straight path section. In this article, an autonomous robot navigation system has been presented that leverages an embedded control navigation map utilising cellular automata with active cells which can effectively navigate in an environment containing various types of obstacles. By analysing the neighbouring cells of the active cell, the cellular environment determines which cell should become active during the robot’s next movement step. This approach ensures the robot’s independence from external control inputs. Furthermore, the accuracy and speed of the robot’s movement have been further enhanced using a hexagonal mosaic for navigation surface mapping. This concept of utilising on cellular automata with active cells has been extended to the navigation of a group of robots on a shared navigation surface, taking into account the intersections of the robots’ trajectories over time. To achieve this, a distance control module has been used that records the travelled trajectories in terms of wheel turns and revolutions.
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Xiong, Minglei, and Guangming Xie. "Swarm Game and Task Allocation for Autonomous Underwater Robots." Journal of Marine Science and Engineering 11, no. 1 (January 8, 2023): 148. http://dx.doi.org/10.3390/jmse11010148.
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Although underwater robot swarms have demonstrated increasing application prospects, organizing and optimizing the swarm’s scheduling for uncertain tasks are challenging. Thus, we designed robot games and task allocation experiments, where the robots have different cooperative attributes, as some are more selfish and others more altruistic. Specifically, we designed two experiments: target search and target moving, aiming to reveal the relationship between individual cooperation and group task achievement in a robot swarm as a collaborative strategy. The task information is shared among the robots, because performing the tasks consumes a certain amount of energy, reducing the robot’s running speed. Our experiments prove that the robot swarms can evolve and enhance their strategies during the game, and will guide guiding future works in designing more efficient robot swarms.
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Huo, Jianwen, Manlu Liu, Konstantin A. Neusypin, Haojie Liu, Mingming Guo, and Yufeng Xiao. "Autonomous Search of Radioactive Sources through Mobile Robots." Sensors 20, no. 12 (June 19, 2020): 3461. http://dx.doi.org/10.3390/s20123461.
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The research of robotic autonomous radioactivity detection or radioactive source search plays an important role in the monitoring and disposal of nuclear safety and biological safety. In this paper, a method for autonomously searching for radioactive sources through mobile robots was proposed. In the method, by using a partially observable Markov decision process (POMDP), the search of autonomous unknown radioactive sources was realized according to a series of radiation information measured by mobile robot. First, the factors affecting the accuracy of radiation measurement during the robot’s movement were analyzed. Based on these factors, the behavior set of POMDP was designed. Secondly, the parameters of the radioactive source were estimated in the Bayesian framework. In addition, through the reward strategy, autonomous navigation of the robot to the position of the radiation source was achieved. The search algorithm was simulated and tested, and the TurtleBot robot platform was used to conduct a real search experiment on the radio source Cs-137 with an activity of 37 MBq indoors. The experimental results showed the effectiveness of the method. Additionally, from the experiments, it could been seen that the robot was affected by the linear velocity, angular velocity, positioning accuracy and the number of measurements in the process of autonomous search for the radioactive source. The proposed mobile robot autonomous search method can be applied to the search for lost radioactive sources, as well as for the leakage of substances (nuclear or chemical) in nuclear power plants and chemical plants.
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Yuta, Shin'ichi. "Open Experiment of Autonomous Navigation of Mobile Robots in the City: Tsukuba Challenge 2014 and the Results." Journal of Robotics and Mechatronics 27, no. 4 (August 20, 2015): 318–26. http://dx.doi.org/10.20965/jrm.2015.p0318.
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<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270004/01.jpg"" width=""300"" /> Autonomous mobile robot in RWRC 2014</div> The Tsukuba Challenge, an open experiment for autonomous mobile robotics researchers, lets mobile robots travel in a real – and populated – city environment. Following the challenge in 2013, the mobile robots must navigate autonomously to their destination while, as the task of Tsukuba Challenge 2014, looking for and finding specific persons sitting in the environment. Total 48 teams (54 robots) seeking success in this complex challenge. </span>
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BARNES, NICK, and ZHI-QIANG LIU. "VISION GUIDED CIRCUMNAVIGATING AUTONOMOUS ROBOTS." International Journal of Pattern Recognition and Artificial Intelligence 14, no. 06 (September 2000): 689–714. http://dx.doi.org/10.1142/s0218001400000489.
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We present a system for vision guided autonomous circumnavigation, allowing a mobile robot to navigate safely around objects of arbitrary pose, and avoid obstacles. The system performs model-based object recognition from an intensity image. By enabling robots to recognize and navigate with respect to particular objects, this system empowers robots to perform deterministic actions on specific objects, rather than general exploration and navigation as emphasized in much of the current literature. This paper describes a fully integrated system, and, in particular, introduces canonical-views. Further, we derive a direct algebraic method for finding object pose and position for the four-dimensional case of a ground-based robot with uncalibrated vertical movement of its camera. Vision for mobile robots can be treated as a very different problem to traditional computer vision, as mobile robots have a characteristic perspective, and there is a causal relation between robot actions and view changes. Canonical-views are a novel, active object representation designed specifically to take advantage of the constraints of the robot navigation problem to allow efficient recognition and navigation.
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Uchiyama, Naoki, Shigenori Sano, and Akihiro Yamamoto. "Sound source tracking considering obstacle avoidance for a mobile robot." Robotica 28, no. 7 (January 18, 2010): 1057–64. http://dx.doi.org/10.1017/s0263574709990919.
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SUMMARYSound source tracking is an important function for autonomous robots, because sound is omni-directional and can be recognized in dark environment. This paper presents a new approach to sound source tracking for mobile robots using auditory sensors. We consider a general type of two-wheeled mobile robot that has wide industrial applications. Because obstacle avoidance is also an indispensable function for autonomous mobile robots, the robot is equipped with distance sensors to detect obstacles in real time. To deal with the robot's nonholonomic constraint and combine information from the auditory and distance sensors, we propose a model reference control approach in which the robot follows a desired trajectory generated by a reference model. The effectiveness of the proposed method is confirmed by experiments in which the robot is expected to approach a sound source while avoiding obstacles.
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Tokunaga, Shinya, Chinthaka Premachandra, H. Waruna H. Premachandra, Hiroharu Kawanaka, Sagara Sumathipala, and B. S. Sudantha. "Autonomous Spiral Motion by a Small-Type Robot on an Obstacle-Available Surface." Micromachines 12, no. 4 (April 1, 2021): 375. http://dx.doi.org/10.3390/mi12040375.
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Several robot-related studies have been conducted in recent years; however, studies on the autonomous travel of small mobile robots in small spaces are lacking. In this study, we investigate the development of autonomous travel for small robots that need to travel and cover the entire smooth surface, such as those employed for cleaning tables or solar panels. We consider an obstacle-available surface and target this travel on it by proposing a spiral motion method. To achieve the spiral motion, we focus on developing autonomous avoidance of obstacles, return to original path, and fall prevention when robots traverse a surface. The development of regular travel by a robot without an encoder is an important feature of this study. The traveled distance was measured using the traveling time. We achieved spiral motion by analyzing the data from multiple small sensors installed on the robot by introducing a new attitude-control method, and we ensured that the robot returned to the original spiral path autonomously after avoiding obstacles and without falling over the edge of the surface.
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Ni, Jianjun, Yan Chen, Guangyi Tang, Jiamei Shi, Weidong Cao, and Pengfei Shi. "Deep learning-based scene understanding for autonomous robots: a survey." Intelligence & Robotics 3, no. 3 (August 15, 2023): 374–401. http://dx.doi.org/10.20517/ir.2023.22.
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Autonomous robots are a hot research subject within the fields of science and technology, which has a big impact on social-economic development. The ability of the autonomous robot to perceive and understand its working environment is the basis for solving more complicated issues. In recent years, an increasing number of artificial intelligence-based methods have been proposed in the field of scene understanding for autonomous robots, and deep learning is one of the current key areas in this field. Outstanding gains have been attained in the field of scene understanding for autonomous robots based on deep learning. Thus, this paper presents a review of recent research on the deep learning-based scene understanding for autonomous robots. This survey provides a detailed overview of the evolution of robotic scene understanding and summarizes the applications of deep learning methods in scene understanding for autonomous robots. In addition, the key issues in autonomous robot scene understanding are analyzed, such as pose estimation, saliency prediction, semantic segmentation, and object detection. Then, some representative deep learning-based solutions for these issues are summarized. Finally, future challenges in the field of the scene understanding for autonomous robots are discussed.
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Sun, Mingchen. "Application of Laser Ranging in Path Planning of Mobile Medical Robot." Advances in Engineering Technology Research 4, no. 1 (March 18, 2023): 606. http://dx.doi.org/10.56028/aetr.4.1.606.2023.
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Compared with traditional industrial robots, mobile robots with autonomous sensing, decision-making and execution functions have broad application prospects. With the continuous development of computer science and sensor technology, the research of mobile medical robot is also developing in the direction of intelligence and autonomy. The mobile medical robot senses the environmental information and its own state through sensors, and realizes the autonomous movement facing the target in the environment with obstacles, thus completing the medical functions specified by the designer. When applied to some practical scenes, the environment faced by mobile medical robots is often full of complexity and unknowns. Accurate 3D scene model is beneficial for robots to obtain accurate pose estimation by data matching and other methods, and can generate collision-free navigation paths based on environmental information. The mobile medical robot can move autonomously safely and effectively only if it can accurately and automatically position itself, the obstacle information in its working environment and its movement state.
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Kirci, Sedanur, and Gokhan Atali. "EuroPallet Detection with RGB-D Camera Based on Deep Learning." European Journal of Research and Development 3, no. 4 (December 31, 2023): 55–65. http://dx.doi.org/10.56038/ejrnd.v3i4.341.
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This study related to enhancing processes and production efficiency in industrial settings by opting for autonomous mobile robots dedicated to indoor transportation and logistics. The specific focus of this research is on employing deep learning for the detection of Euro pallet objects, enabling a mobile robot, specifically the Servant-T1500 model by Kar Metal company with natural navigation capabilities, to autonomously dock and handle palletized loads with precision.
To accomplish this, an original dataset was curated using an RGB-D camera, and data augmentation techniques were applied to expand this dataset. Subsequently, a deep learning model was trained on this data to detect Euro pallets in images it had not encountered during training. The transfer learning method was applied using the YOLOv5 model on the dataset. The successful outcome of this process demonstrates the autonomous robot's capability to accurately recognize Euro pallet objects even under changing lighting conditions. This achievement marks a significant step toward optimizing industrial processes and improving production efficiency through the integration of autonomous mobile robots in logistics and transportation tasks.
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Valliappan, Karthik C*, and Vikram R. "Autonomous Indoor Navigation for Mobile Robots." Regular issue 10, no. 7 (May 30, 2021): 122–26. http://dx.doi.org/10.35940/ijitee.g9038.0510721.
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An autonomous navigation system for a robot is key for it to be self-reliant in any given environment. Precise navigation and localization of robots will minimize the need for guided work areas specifically designed for the utilization of robots. The existing solution for autonomous navigation is very expensive restricting its implementation to satisfy a wide variety of applications for robots. This project aims to develop a low-cost methodology for complete autonomous navigation and localization of the robot. For localization, the robot is equipped with an image sensor that captures reference points in its field of view. When the robot moves, the change in robot position is estimated by calculating the shift in the location of the initially captured reference point. Using the onboard proximity sensors, the robot generates a map of all the accessible areas in its domain which is then used for generating a path to the desired location. The robot uses the generated path to navigate while simultaneously avoiding any obstacles in its path to arrive at the desired location.
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Ohya, Akihisa, Koichi Ozaki, Tomohito Takubo, Shin’ichi Yuta, and Yoshihiro Takita. "Special Issue on Autonomous Robotics Challenge." Journal of Robotics and Mechatronics 35, no. 6 (December 20, 2023): 1405. http://dx.doi.org/10.20965/jrm.2023.p1405.
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The Tsukuba Challenge and the Nakanoshima Robot Challenge are both technical challenges in which mobile robots run autonomously in real outdoor environments. They have been held almost every year since 2007 and 2018, respectively, and many robots have participated in these public experiments. The autonomous navigation of a mobile robot in the real world, that is, not on test tracks but in environments normally used by everyday people, poses a great many challenges. The robots have to deal with environments that change with the time of day, the weather, the season, etc., and they have to deal with unexpected stationary obstacles as well as moving ones, including people, bicycles, etc. These days, demonstration tests of delivery robots are being conducted in many places, but there are still many problems that need to be solved. In this special issue, we have gathered papers detailing the insights gained from running mobile robots in the two outdoor experiments, the Tsukuba Challenge and the Nakanoshima Robot Challenge. To run a robot with a high success rate in a real environment, it is very important to devise the robot configuration, the sensor data processing, and the behavior control based on the knowledge gained from many experiences. We hope that sharing the successes and failures in the papers in this special issue will lead to further technological improvements in the future.
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Poskart, Bartosz, Grzegorz Iskierka, Kamil Krot, Robert Burduk, Paweł Gwizdal, and Arkadiusz Gola. "Multi-Parameter Predictive Model of Mobile Robot’s Battery Discharge for Intelligent Mission Planning in Multi-Robot Systems." Sensors 22, no. 24 (December 15, 2022): 9861. http://dx.doi.org/10.3390/s22249861.
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The commercially available battery management and mission scheduling systems for fleets of autonomous mobile robots use different algorithms to calculate the current state of charge of the robot’s battery. This information alone cannot be used to predict whether it will be possible for a single robot in the fleet to execute all of the scheduled missions. This paper provides insight into how to develop a universal battery discharge model based on key mission parameters, which allows for predicting the battery usage over the course of the scheduled missions and can, in turn, be used to determine which missions to delegate to other robots in the fleet, or if more robots are needed in the fleet to accomplish the production plan. The resulting model is, therefore, necessary for mission scheduling in a flexible production system, including autonomous mobile robot transportation networks.
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Huang, Zhihong, and Jianping Geng. "Research on laser-based mobile robot SLAM and autonomous navigation." Journal of Physics: Conference Series 2711, no. 1 (February 1, 2024): 012021. http://dx.doi.org/10.1088/1742-6596/2711/1/012021.
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Abstract SLAM (Simultaneous Localization and Mapping) and autonomous navigation systems, as fundamental components of mobile robots, largely determine their ability to accomplish tasks. While research on laser-based SLAM and autonomous navigation algorithms in simulated environments has achieved significant success, there is limited research on deploying these algorithms on physical mobile robots, conducting real-world experiments to provide practical data for validating the accuracy and applicability of theoretical models. This paper begins by presenting the system architecture of the mobile robot used in this study. Subsequently, it delves into the research on SLAM algorithms, analyzing and selecting the Gmapping algorithm as the solution to the SLAM problem. Furthermore, the paper introduces the research on autonomous navigation, providing a detailed explanation of the principles behind the A* global path planning algorithm combined with the Dynamic Window Approach (DWA) for local path planning. Finally, by controlling the mobile robot through a distributed communication network, the paper tests the performance of the mobile robot, constructs maps in a real indoor environment, achieving a relative map accuracy error of less than 3%, thus validating the effectiveness of the Gmapping algorithm for practical mapping. Autonomous navigation tasks are also performed, testing the mobile robot’s local obstacle avoidance capabilities using temporary obstacles. Overall, this research demonstrates that the designed mobile robot can effectively accomplish SLAM and autonomous navigation tasks. The results of this study can also assist beginners in rapidly and clearly building physical mobile robots and deploying SLAM systems.
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Bayer, Jan, Petr Cížek, and Jan Faigl. "Autonomous Multi-robot Exploration with Ground Vehicles in DARPA Subterranean Challenge Finals." Field Robotics 3, no. 1 (January 10, 2023): 266–300. http://dx.doi.org/10.55417/fr.2023008.
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Autonomous navigation and multi-robot exploration framework for ground robots are key parts of the robotic system deployed by the team CTU-CRAS-NORLAB in the final event of the Subterranean (SubT) Challenge organized by the Defense Advanced Research Projects Agency (DARPA) in 2021. The SubT Challenge aimed to advance technologies related to search-and-rescue missions with multi-robot systems in underground environments where communication is unavailable and global navigation satellite systems are denied. This field report describes the developed multi- robot exploration framework focusing on planning, exploration, and traversability estimation for a heterogeneous team of ground vehicles in large-scale rough terrains and multi-robot coordination with limited communication. The developed method employs a dense local mapping for precise traversability estimation combined with a sparse topometrical map shareable between multiple robots and is thus used in the decision-making of the exploration strategy. The topometrical map is designed to support the decentralized coordination of heterogeneous teams of robots, which is demonstrated by deploying the developed framework in the SubT competitions. The framework has been employed in the Virtual track for the full autonomous control of the ground robots, where our team scored second. Besides, in the Systems track, a human supervisor exploited autonomous behaviors provided by the proposed framework to control a heterogeneous team of six ground robots. We report on real-world experimental results from the deployment of the SubT Challenge. Furthermore, we present results from the post-event testing of the SubT Challenge, where three quadruped robots controlled by the framework explored over five hundred meters fully autonomously.
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Mendoza, Juan Pablo, Reid Simmons, and Manuela Veloso. "Detection and correction of subtle context-dependent robot model inaccuracies using parametric regions." International Journal of Robotics Research 38, no. 8 (May 20, 2019): 887–909. http://dx.doi.org/10.1177/0278364919845047.
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Autonomous robots frequently rely on models of their sensing and actions for intelligent decision making. Unfortunately, in complex environments, robots are bound to encounter situations in which their models do not accurately represent the world. Furthermore, these context-dependent model inaccuracies may be subtle, such that multiple observations may be necessary to distinguish them from noise. This paper formalizes the problem of detection and correction of such subtle contextual model inaccuracies in autonomous robots, and presents an algorithm to address this problem. The solution relies on reasoning about these contextual inaccuracies as parametric regions of inaccurate modeling (RIMs) in the robot’s planning space. Empirical results from various real robot domains demonstrate that, by explicitly searching for RIMs, robots are capable of efficiently detecting subtle contextual model inaccuracies, which in turn can lead to task performance improvement.
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Wu, Fei, and Yueyang Zhao. "Non-contact automatic COVID-19 nucleic acid detection robot." Applied and Computational Engineering 5, no. 1 (June 14, 2023): 848–52. http://dx.doi.org/10.54254/2755-2721/5/20230726.
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This product is mainly used to realise the contactless automatic COVID-19 nucleic acid detection robot, which can navigate to the workstation or location of the set personnel through the camera and radar and is mainly applied to the autonomous movement function of the existing automatic nucleic acid detection robot. The robot will conduct intelligent navigation according to the position of the nucleic acid person, avoid obstacles autonomously through radar and camera, and use clever navigation to plan the nearest route to the position part of the needed nucleic acid. This product carries a camera and laser radar based on SLAM technology for obstacle avoidance of autonomous mobile robots, through the experiment of advanced algorithms and the team constantly optimised. The algorithm makes its universality, compatibility, real-time and precision to achieve the desired effect. These autonomous mobile robots in the industrial production industry are essential to the application.
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Singh, Prashant, and Dinesh Kumar. "Autonomous Robots in Manufacturing." Turkish Journal of Computer and Mathematics Education (TURCOMAT) 10, no. 2 (September 10, 2019): 1175–79. http://dx.doi.org/10.61841/turcomat.v10i2.14391.
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Thе abstract for a rеsеarch papеr on "Autonomous Robots in Manufacturing" еnvisions a comprеhеnsivе еxploration into thе transformativе impact of autonomous robotic systеms on modеrn manufacturing procеssеs. This rеsеarch invеstigatеs thе intеgration of autonomous robots within manufacturing еnvironmеnts, focusing on thеir capabilitiеs, implications, and thеbroadеr ramifications for еfficiеncy, safеty, and еconomic factors. Thе study dеlvеs into thе tеchnological advancеmеnts that еnablе autonomy in robots, including sеnsor tеchnologiеs, machinе lеarning algorithms, and rеal-timе dеcision-making capabilitiеs. By еxamining thе еvolution of thеsе tеchnologiеs, thе rеsеarch aims to еlucidatе thе currеnt statе of autonomous robots in manufacturing and forеcastfuturе trеnds. A substantial portion of thе rеsеarch is dеdicatеd to еvaluating thе practical applications of autonomous robots in various manufacturing sеctors. This includеs, but is not limitеd to, thеir rolе in assеmbly linеs, matеrial handling, qualitycontrol, and collaborativе tasks alongsidе human workеrs. Thе study scrutinizеs thе еffеctivеnеss of autonomous robots in еnhancing productivity, rеducing еrrors, and strеamlining production procеssеs. Bеyond thеtеchnological dimеnsions, thе rеsеarch contеmplatеs thе broadеr implications of autonomous robotics in manufacturing. This еncompassеs thе impact on workforcе dynamics, addrеssing concеrns rеlatеd to job displacеmеnt and thе еvolving skill sеts rеquirеd in thе еra of automation. Additionally, thеstudy еvaluatеs thе еconomic aspеcts, considеring thе rеturn on invеstmеnt,cost-еffеctivеnеss, and long-tеrm sustainability of intеgrating autonomous robots into manufacturing еcosystеms. Ethical considеrations arе wovеn into thе fabric of thе rеsеarch, еxploring quеstions surrounding thе еthical dеploymеnt of autonomous robots, thе potеntial for human-robot collaboration, and thе implications for workеr wеll-bеing. Thе study sееks to providе a balancеd pеrspеctivе on thе еthical dilеmmas associatеd with thе risе of autonomous systеms in manufacturing. In conclusion,this rеsеarch aspirеs to contributе a nuancеd undеrstanding of thе currеnt landscapе, challеngеs, and futurе trajеctoriеs of autonomous robots in manufacturing. Thе findings aim to inform industry stakеholdеrs, policymakеrs, and rеsеarchеrs, fostеring a dialoguе on rеsponsiblе and еffеctivе intеgration of autonomous robotic tеchnologiеs in thе manufacturing domain.
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Matsui, Nobuyuki, Isuru Jayarathne, Hiroaki Kageyama, Keitaro Naruse, Kazuki Urabe, Ryota Sakamoto, Tomoaki Mashiko, et al. "Local and Global Path Planning for Autonomous Mobile Robots Using Hierarchized Maps." Journal of Robotics and Mechatronics 34, no. 1 (February 20, 2022): 86–100. http://dx.doi.org/10.20965/jrm.2022.p0086.
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We are currently facing a “labor crisis,” particularly in the field of logistics, because of reductions in the labor force. Therefore, industries must make their logistics more efficient by utilizing autonomous mobile robotics technologies. This paper proposes a hierarchized map concept that makes unmanned delivery tasks which use multiple autonomous robots more efficiently. Using our proposed concept, an autonomous mobile robot can move automatically on a more efficient path than using current methods. In addition, the management platform for autonomous robots can be used to prevent accidents such as collisions or deadlocks between autonomous robots.
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N., Divya, Prasanna Mohan M., Prasanna Sekaran E., and Pavithra N. "Autonomous Robot On-Pipe Leak Detection." June 2024 6, no. 2 (June 2024): 186–98. http://dx.doi.org/10.36548/jeea.2024.2.008.
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The research addresses the critical need for efficient and cost-effective pipe inspection methods in modern infrastructure, focusing on the maintenance of water and gas delivery systems. The objective is to improve defect detection and maintenance processes in pipes, reducing downtime and operational costs. The proposed method involves deploying pipe inspection robots, with an emphasis on on-pipe robots tailored for specific applications such as urban gas lines, small feeder pipes, and sewer systems. These robots are categorized into seven sub-types, including wheel-type, inchworm-style, AI-powered sewer inspection, caterpillar-style, and helical motion robots, each designed for unique inspection challenges. A newly developed versatile on-pipe inspection robot is highlighted for its ability to inspect a variety of plastic and metal pipes in both horizontal and vertical orientations. This robot features a body, foreleg system, rear leg system, and springs, enabling smooth navigation through pipes. The performance of this robot shows substantial improvements in inspection efficiency and accuracy, proving its effectiveness as a modern solution for infrastructure maintenance.
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Ma, Xi Pei, Bing Feng Qian, Song Jie Zhang, and Ye Wang. "Research on Technology and Application of Multi-Sensor Data Fusion for Indoor Service Robots." Applied Mechanics and Materials 651-653 (September 2014): 831–34. http://dx.doi.org/10.4028/www.scientific.net/amm.651-653.831.
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The autonomous navigation process of a mobile service robot is usually in uncertain environment. The information only given by sensors has been unable to meet the demand of the modern mobile robots, so multi-sensor data fusion has been widely used in the field of robots. The platform of this project is the achievement of the important 863 Program national research project-a prototype nursing robot. The aim is to study a mobile service robot’s multi-sensor information fusion, path planning and movement control method. It can provide a basis and practical use’s reference for the study of an indoor robot’s localization.
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Lytridis, Chris, Christos Bazinas, Ioannis Kalathas, George Siavalas, Christos Tsakmakis, Theodoros Spirantis, Eftichia Badeka, Theodore Pachidis, and Vassilis G. Kaburlasos. "Cooperative Grape Harvesting Using Heterogeneous Autonomous Robots." Robotics 12, no. 6 (October 28, 2023): 147. http://dx.doi.org/10.3390/robotics12060147.
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The development of agricultural robots is an increasingly popular research field aiming at addressing the widespread labor shortages in the farming industry and the ever-increasing food production demands. In many cases, multiple cooperating robots can be deployed in order to reduce task duration, perform an operation not possible with a single robot, or perform an operation more effectively. Building on previous results, this application paper deals with a cooperation strategy that allows two heterogeneous robots to cooperatively carry out grape harvesting, and its implementation is demonstrated. More specifically, the cooperative grape harvesting task involves two heterogeneous robots, where one robot (i.e., the expert) is assigned the grape harvesting task, whereas the second robot (i.e., the helper) is tasked with supporting the harvesting task by carrying the harvested grapes. The proposed cooperative harvesting methodology ensures safe and effective interactions between the robots. Field experiments have been conducted in order firstly to validate the effectiveness of the coordinated navigation algorithm and secondly to demonstrate the proposed cooperative harvesting method. The paper reports on the conclusions drawn from the field experiments, and recommendations for future enhancements are made. The potential of sophisticated as well as explainable decision-making based on logic for enhancing the cooperation of autonomous robots in agricultural applications is discussed in the context of mathematical lattice theory.
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Iyengar, Pranav, and Ashish Umbarkar. "Development of Autonomous Indoor Floor Cleaning Robot." International Journal of Recent Technology and Engineering (IJRTE) 11, no. 3 (September 30, 2022): 6–10. http://dx.doi.org/10.35940/ijrte.c7199.0911322.
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- Cleanliness plays an important role in everyday life. It is the most popular method of maintaining our surroundings free of contaminants and illnesses, as well as for social and academic well-being. Recently, a few cleaning-arrangements have become available to maintain your home dust-free. Machine-Controlled For the betterment of humanity, floor cleaners were given. In recent years, cleanliness has been a critical aspect in improving one's own health, so we are developing a robotic Automated floor cleaner that would safely clean the premises. Expert support robots, such as client care and indoor robots, account for a large portion of these robots. One of these robots' most basic requirements is the ability to explore in environments where a GPS system cannot be used. The robot should also be able to detect barriers and quickly reroute to reach the desired destination. While getting at the goal, the robot will also be cleaning the floor simultaneously and independently. The robot depends on Robot Operating System (ROS) structure. The SLAM (Simultaneous Localization and Mapping) would aid in creating a crash-free path for the robot from start to finish.
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Sueoka, Yuichiro, Mitsuki Okada, Yusuke Tsunoda, Yasuhiro Sugimoto, and Koichi Osuka. "Exploration of a Simple Navigation Method for Swarm Robots Pioneered by Heterogeneity." Journal of Robotics and Mechatronics 35, no. 4 (August 20, 2023): 948–56. http://dx.doi.org/10.20965/jrm.2023.p0948.
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In recent years, research has been conducted on swarm robot systems in which multiple autonomous mobile robots cooperate to perform tasks. Swarm robot systems are expected to perform high functionality as a group by cooperating with each other, in spite of the limited capabilities of the individual robots. This paper explores a method of simplifying swarm robot controllers as much as possible for swarm robot navigation. If we can achieve autonomous navigation of swarm robots to a target area with minimal resource consumption, they only need to implement the task execution function in that area. This leads to lower costs for swarm robot design and more efficient system architecture design. To address the above aims, this study focuses on heterogeneity. Specifically, we introduce a navigator robot that indirectly guides swarm robots named the worker robots. Heterogeneity in this paper refers to the worker robots and the navigator robots. We design the interaction between the navigator robot and the worker robots to provide a system that guides the worker robots to the destination.
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Muda, Nur Rachman Supadmana, Nugraha Gumilar, R. Djoko Andreas Navalino, Tirton N, and M. Iman Hidayat. "Implementation of Autonomous Control System of The Chain Wheel Robot Using the Backpropagation Artificial Neural Network (ANN) Methods." Volume 5 - 2020, Issue 8 - August 5, no. 8 (September 8, 2020): 1230–35. http://dx.doi.org/10.38124/ijisrt20aug688.
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The purpose of this research is to implement the Artificial Neural Network (ANN) method in combat robots so it can be directed to shoot targets well. The robot control system uses remote control and autonomous. In the autonomous robot system, ANN back propagation method is applied, where the weight value variable depends on ultrasonic sensor, GPS and camera. The microcontroller system will process automatically depending on the sensor input. Output data is used to direct the robot to the target, tracking and shooting. Robot is used chain wheel systems and weapons that used pistol types. The riffle is mounted on the robot can be moved mechanically azimuth and the elevation towards the target then triggered mechanically by the riffle through the activation of data relays from the microcontroller. Thus, the backpropagation method can be applied to robots so it can be functioned autonomously.
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Dong, Qin. "Path Planning Algorithm Based on Visual Image Feature Extraction for Mobile Robots." Mobile Information Systems 2022 (July 1, 2022): 1–9. http://dx.doi.org/10.1155/2022/4094472.
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When autonomous mobile robots plan their own movements properly, they first need to perceive the surrounding environment and then make comprehensive decisions based on the surrounding environment information, that is, path planning. Vision can provide abundant and complete environmental information for robots, and it can significantly improve the effect of path planning when it is introduced into the path planning of autonomous robots. In this article, we take the autonomous mobile robot AS-R as the research object and use the multisensors such as a gimbal camera and ultrasonic sensor attached to the robot to study the navigation line information perceived by machine vision, the obstacle information sensed by range sensor, and the fusion of multisensor information to solve the image processing, path recognition, information fusion, decision control, and other related problems of the mobile robot to realize the autonomous mobile robot.
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Bayat, Behzad, Julita Bermejo-Alonso, Joel Carbonera, Tullio Facchinetti, Sandro Fiorini, Paulo Goncalves, Vitor A. M. Jorge, et al. "Requirements for building an ontology for autonomous robots." Industrial Robot: An International Journal 43, no. 5 (August 15, 2016): 469–80. http://dx.doi.org/10.1108/ir-02-2016-0059.
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Purpose IEEE Ontologies for Robotics and Automation Working Group were divided into subgroups that were in charge of studying industrial robotics, service robotics and autonomous robotics. This paper aims to present the work in-progress developed by the autonomous robotics (AuR) subgroup. This group aims to extend the core ontology for robotics and automation to represent more specific concepts and axioms that are commonly used in autonomous robots. Design/methodology/approach For autonomous robots, various concepts for aerial robots, underwater robots and ground robots are described. Components of an autonomous system are defined, such as robotic platforms, actuators, sensors, control, state estimation, path planning, perception and decision-making. Findings AuR has identified the core concepts and domains needed to create an ontology for autonomous robots. Practical implications AuR targets to create a standard ontology to represent the knowledge and reasoning needed to create autonomous systems that comprise robots that can operate in the air, ground and underwater environments. The concepts in the developed ontology will endow a robot with autonomy, that is, endow robots with the ability to perform desired tasks in unstructured environments without continuous explicit human guidance. Originality/value Creating a standard for knowledge representation and reasoning in autonomous robotics will have a significant impact on all R&A domains, such as on the knowledge transmission among agents, including autonomous robots and humans. This tends to facilitate the communication among them and also provide reasoning capabilities involving the knowledge of all elements using the ontology. This will result in improved autonomy of autonomous systems. The autonomy will have considerable impact on how robots interact with humans. As a result, the use of robots will further benefit our society. Many tedious tasks that currently can only be performed by humans will be performed by robots, which will further improve the quality of life. To the best of the authors’knowledge, AuR is the first group that adopts a systematic approach to develop ontologies consisting of specific concepts and axioms that are commonly used in autonomous robots.
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Cheng, Ming. "Development Analysis of Key Autonomous Perception Applied to Path Planning and Autonomous Obstacle Avoidance of Land Wheeled Mobile Robots." Highlights in Science, Engineering and Technology 103 (June 26, 2024): 1–6. http://dx.doi.org/10.54097/dqezdn05.
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Path planning and autonomous obstacle avoidance are two key technologies for mobile robots, and the technical basis for achieving these functions is high-precision autonomous perception. The core purpose of this article is to deeply analyze and discuss the key autonomous perception technologies of land-wheeled mobile robots in path planning and autonomous obstacle avoidance. This article first reviews the technological development process in the field of mobile robots, emphasizes the importance of path planning and autonomous obstacle avoidance, and outlines the foundation of high-precision autonomous perception technology that is required to achieve these functions. Subsequently, this article will provide a comprehensive perspective by analyzing the latest developments, challenges, and future development trends of these key technologies in-depth chapter by chapter, aiming to provide valuable insights and references for researchers, engineers, and technology enthusiasts to jointly promote the further development of mobile robot technology. This article comprehensively explores the key autonomous perception technologies of land-wheeled mobile robots in path planning and autonomous obstacle avoidance, aiming to reveal the current progress, main challenges, and future development directions of these technologies. Through in-depth analysis, this article not only emphasizes the importance of these technologies in improving robot performance and application scope, but also provides direction for future research and technological innovation and looks forward to the broad prospects of mobile robot technology on the path of intelligent development.
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Carbajo-Núñez OFM, Martín. "Autonomous drone warfare." Warszawskie Studia Teologiczne 35, no. 1 (October 6, 2022): 103–17. http://dx.doi.org/10.30439/10.30439/wst.2022.1.6.
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Recently, a military robot has autonomously taken the decision to attack enemy troops in the Libyan war without waiting for any human intervention. Russia is also suspected of using such kind of robots in the current war against Ukraine. This news has highlighted the possibility of radical changes in war scenarios. Using a Catholic perspective, we will analyze these new challenges, indicating the anthropological and ethical bases that must lead to the prohibition of autonomous “killer robots” and, more generally, to the overcoming of the just war theory. We will also point out the importance of Francis of Assisi, whom the encyclical Fratelli tutti has proposed again as a model for advancing towards a fraternal and pacified humanity.
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Carbajo-Núñez OFM, Martín. "Autonomous drone warfare." Warszawskie Studia Teologiczne 35, no. 1 (October 6, 2022): 103–17. http://dx.doi.org/10.30439/wst.2022.1.6.
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Recently, a military robot has autonomously taken the decision to attack enemy troops in the Libyan war without waiting for any human intervention. Russia is also suspected of using such kind of robots in the current war against Ukraine. This news has highlighted the possibility of radical changes in war scenarios. Using a Catholic perspective, we will analyze these new challenges, indicating the anthropological and ethical bases that must lead to the prohibition of autonomous “killer robots” and, more generally, to the overcoming of the just war theory. We will also point out the importance of Francis of Assisi, whom the encyclical Fratelli tutti has proposed again as a model for advancing towards a fraternal and pacified humanity.
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N, Yadagiri. "DESIGN AND DEVELOPMENT OF FERTILISER SPRAYING AGRICULTURAL ROBOT." INTERANTIONAL JOURNAL OF SCIENTIFIC RESEARCH IN ENGINEERING AND MANAGEMENT 08, no. 04 (April 29, 2024): 1–5. http://dx.doi.org/10.55041/ijsrem32553.
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Modern agriculture is ensured by the development and dissemination of agricultural automation and intelligence. The current focus of agricultural robot research is autonomous navigation, which can significantly improve labor productivity while effectively reducing labor requirements. It is the most successful robot in the agricultural field. The main functions of the robot are chassis control, navigation control, and mechanical design for fertilization and spreading. The main theme of robots is to reduce work, workload, burden and stress. Agriculture is an extremely resource- and labor-intensive industry. Therefore, farmers are increasingly turning to technology and automation to address this problem. Future recommendations include making agricultural robots fully autonomous. Key Words: Fertilization, agricultural robots modern agriculture, autonomous navigation.
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Qin, Hongwei, Shiliang Shao, Ting Wang, Xiaotian Yu, Yi Jiang, and Zonghan Cao. "Review of Autonomous Path Planning Algorithms for Mobile Robots." Drones 7, no. 3 (March 18, 2023): 211. http://dx.doi.org/10.3390/drones7030211.
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Mobile robots, including ground robots, underwater robots, and unmanned aerial vehicles, play an increasingly important role in people’s work and lives. Path planning and obstacle avoidance are the core technologies for achieving autonomy in mobile robots, and they will determine the application prospects of mobile robots. This paper introduces path planning and obstacle avoidance methods for mobile robots to provide a reference for researchers in this field. In addition, it comprehensively summarizes the recent progress and breakthroughs of mobile robots in the field of path planning and discusses future directions worthy of research in this field. We focus on the path planning algorithm of a mobile robot. We divide the path planning methods of mobile robots into the following categories: graph-based search, heuristic intelligence, local obstacle avoidance, artificial intelligence, sampling-based, planner-based, constraint problem satisfaction-based, and other algorithms. In addition, we review a path planning algorithm for multi-robot systems and different robots. We describe the basic principles of each method and highlight the most relevant studies. We also provide an in-depth discussion and comparison of path planning algorithms. Finally, we propose potential research directions in this field that are worth studying in the future.
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Golubov, V. V., and S. V. Manko. "Automation of autonomous mobile robot docking based on the counter growth rapidly exploring random tree method." Russian Technological Journal 12, no. 1 (February 1, 2024): 7–14. http://dx.doi.org/10.32362/2500-316x-2024-12-1-7-14.
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Objectives. The article substantiates the relevance of automatic docking of autonomous mobile robots. Specific examples show that the implementation of the automatic docking functions of autonomous robots reveals the potential for creating multi-agent systems with a transformable structure. The aim of the work is to develop means for automatic docking of autonomous mobile robots in complex scenarios and an uncertain environment.Methods. The proposed approach to automating autonomous mobile robot docking is reduced to a modification of the counter-growth rapidly-exploring random tree (RRT) method. It is based on the parallel execution of a decentralized route planning algorithm with mutual coordination of distributed computing processes. The effectiveness of the complex of algorithmic and software tools developed was evaluated using computer and natural simulation methods. The final series of full-scale experiments was carried out on the example of JetBot AI kit Nvidia platforms for automatic docking of autonomous robots. This was performed using the means and methods of intelligent control, visual navigation, technical vision and wireless network communication.Results. The study analyzed the features of automatic docking as one of the tasks of group control of autonomous robots. This is part of multi-agent systems, capable of reconfiguring structures for purposeful changes to the existing set of functional properties and application possibilities. The study also proposes a decentralized modification of the counter-growth RRT method. This allows the movements of autonomous mobile robots in the course of their mutual approach and subsequent docking to be planned. A set of software-algorithmic tools was developed to automate the docking of autonomous robots. A series of model and full-scale experiments were carried out to confirm the effectiveness of the approach developed herein.Conclusions. The modification presented herein of the counter-growth RRT method, traditionally used for planning the movements of manipulators and mobile platforms, is complementary to the tasks it resolves. This enables the docking of autonomous robots to be automated. The results obtained open up the potential for universal schedulers with extended functionality for autonomous robot control systems to be designed.
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Loianno, Giuseppe, Yash Mulgaonkar, Chris Brunner, Dheeraj Ahuja, Arvind Ramanandan, Murali Chari, Serafin Diaz, and Vijay Kumar. "Autonomous flight and cooperative control for reconstruction using aerial robots powered by smartphones." International Journal of Robotics Research 37, no. 11 (September 2018): 1341–58. http://dx.doi.org/10.1177/0278364918774136.
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Advances in consumer electronics products and the technology seen in personal computers, digital cameras, and smartphones phones have led to the price/performance ratio of sensors and processors falling dramatically over the last decade. In particular, many consumer products are packaged with small cameras, gyroscopes, and accelerometers, all sensors that are needed for autonomous robots in GPS-denied environments. The low mass and small form factor make them particularly well suited for autonomous flight with small flying robots. In this work, we present the first fully autonomous smartphone-based system for quadrotors. We show how multiple quadrotors can be stabilized and controlled to achieve autonomous flight in indoor buildings with application to smart homes, search and rescue, monitoring construction projects, and developing models for architecture design. In our work, the computation for sensing and control runs on an off-the-shelf smartphone, with all the software functionality embedded in a smartphone app. No additional sensors or processors are required for autonomous flight. We are also able to use multiple, coordinated autonomous aerial vehicles to improve the efficiency of our mission. In our framework, multiple vehicles are able to plan safe trajectories avoiding inter-robot collisions, while concurrently building in a cooperative manner a three-dimensional map of the environment. The work allows any consumer with any number of robots equipped with smartphones to autonomously drive a team of quadrotor robots, even without GPS, by downloading our app and cooperatively build three-dimensional maps.
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Rajapaksha, U. U. Samantha, Chandimal Jayawardena, and Bruce A. MacDonald. "Design, Implementation, and Performance Evaluation of a Web-Based Multiple Robot Control System." Journal of Robotics 2022 (May 30, 2022): 1–24. http://dx.doi.org/10.1155/2022/9289625.
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Heterogeneous multiple robots are currently being used in smart homes and industries for different purposes. The authors have developed the Web interface to control and interact with multiple robots with autonomous robot registration. The autonomous robot registration engine (RRE) was developed to register all robots with relevant ROS topics. The ROS topic identification algorithm was developed to identify the relevant ROS topics for the publication and the subscription. The Gazebo simulator spawns all robots to interact with a user. The initial experiments were conducted with simple instructions and then changed to manage multiple instructions using a state transition diagram. The number of robots was increased to evaluate the system’s performance by measuring the robots’ start and stop response time. The authors have conducted experiments to work with the semantic interpretation from the user instruction. The mathematical equations for the delay in response time have been derived by considering each experiment’s input given and system characteristics. The Big O representation is used to analyze the running time complexity of algorithms developed. The experiment result indicated that the autonomous robot registration was successful, and the communication performance through the Web decreased gradually with the number of robots registered.
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Taira, Tetsuya, and Nobuyuki Yamasaki. "Functionally Distributed Control Architecture for Autonomous Mobile Robots." Journal of Robotics and Mechatronics 16, no. 2 (April 20, 2004): 217–24. http://dx.doi.org/10.20965/jrm.2004.p0217.
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This paper explains the design and implementation of functionally distributed control architecture that realizes real-time control of autonomous mobile robots. To operate successfully in human society, autonomous mobile robots must achieve both local and global control in real-time. We focus on robots operating in parallel, such as moving while sensing, and propose a functionally distributed control architecture designed as a parallel/distributed computer consisting of many functionally distributed modules. Each module has an exclusive Processing Unit (PU) that processes one function of robot, such as image processing, auditory processing, and wheel control, independently in real-time. The robot can perform global action by cooperating with such modules. We then evaluate the efficiency of the proposed architecture by implementing prototype robots based on this architecture.
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Wijanto, Eddy. "Design of Behavior-Based Reactive System for Autonomous Stuff-Collecting Mobile Robot." Techné : Jurnal Ilmiah Elektroteknika 21, no. 1 (April 11, 2022): 101–16. http://dx.doi.org/10.31358/techne.v21i1.310.
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Recently, autonomous robots play an important role in many aspects. Autonomous robots help improve efficiency and productivity, further reduce errors, and risk rates. Employee safety in high-risk work environments is also becoming one of the benefits of autonomous robots. When designing an autonomous robot, two paradigms can be implemented, i.e., planning and reactive paradigm. A distinct feature of the reactive paradigm is that all activities are carried out through behavior. The benefits of the reactive paradigm include can be applied in limited inexpensive hardware resources, low complexity, goal convergence, easy adaptation to changing situations, and a completely unfamiliar environment with unpredictable mobile obstacles. In this paper, the behavior-based reactive system of an autonomous mobile robot is designed to collect stuff objects. Negotiators have been proposed to combine several behaviors into a system that can be implemented in a variety of situations and cases. The results show that a negotiator can be implemented to realize a fully autonomous mobile robot based on the behavior of the reactive system.
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Ribeiro, António Fernando Alcântara, Ana Carolina Coelho Lopes, Tiago Alcântara Ribeiro, Nino Sancho Sampaio Martins Pereira, Gil Teixeira Lopes, and António Fernando Macedo Ribeiro. "Probability-Based Strategy for a Football Multi-Agent Autonomous Robot System." Robotics 13, no. 1 (December 23, 2023): 5. http://dx.doi.org/10.3390/robotics13010005.
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The strategies of multi-autonomous cooperative robots in a football game can be solved in multiple ways. Still, the most common is the “Skills, Tactics and Plays (STP)” architecture, developed so that robots could easily cooperate based on a group of predefined plays, called the playbook. The development of the new strategy algorithm presented in this paper, used by the RoboCup Middle Size League LAR@MSL team, had a completely different approach from most other teams for multiple reasons. Contrary to the typical STP architecture, this strategy, called the Probability-Based Strategy (PBS), uses only skills and decides the outcome of the tactics and plays in real-time based on the probability of arbitrary values given to the possible actions in each situation. The action probability values also affect the robot’s positioning in a way that optimizes the overall probability of scoring a goal. It uses a centralized decision-making strategy rather than the robot’s self-control. The robot is still fully autonomous in the skills assigned to it and uses a communication system with the main computer to synchronize all robots. Also, calibration or any strategy improvements are independent of the robots themselves. The robots’ performance affects the results but does not interfere with the strategy outcome. Moreover, the strategy outcome depends primarily on the opponent team and the probability calibration for each action. The strategy presented has been fully implemented on the team and tested in multiple scenarios, such as simulators, a controlled environment, against humans in a simulator, and in the RoboCup competition.
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SYAFITRI, NIKEN, RATNA SUSANA, IHSAN FARRASSALAM AMMARPRAWIRA, MOCHAMAD SEPTONI FAUZI, and ARBI ABDUL JABBAAR. "The Autonomous Disaster Victim Search Robot using the Waypoint Method." ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika 8, no. 2 (May 19, 2020): 347. http://dx.doi.org/10.26760/elkomika.v8i2.347.
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ABSTRAKPada kasus bencana alam, penyebaran robot pada area bencana sangat bermanfaat bagi tim SAR dalam proses pencarian korban. Khususnya, jika robot yang disebar merupakan robot otonom untuk meningkatkan proses pencarian, secara efektif dan efisien. Pada artikel ini, kami mengusulkan sebuah robot otonom untuk pencarian korban bencana yang ditanamkan metode waypoint dengan mengeksploitasi sensor, GPS dan divais komunikasi. Hasil yang didapat menunjukkan bahwa robot ini mampu mencari korban bencana secara otonom dengan mendeteksi pergerakan kecil dan temperatur korban. Kemudian, koordinat lokasi korban dikirim ke tim SAR untuk operasi penyelamatan. Robot ini juga mampu melakukan perjalanan pulang ke posko asal untuk pengisian daya ketika daya baterainya hampir habis.Kata kunci: robot otonom, waypoint, bencana, pencarian korban, perjalanan pulang ABSTRACTIn the case of disaster, the deployment of robots is immensely helpful for SAR team in the process of searching the victims. Especially, if the deployed robots are autonomous to enhance the searching process, effectively and efficiently. In this paper, we propose an autonomous robot for searching the disaster victims embedded by automatic waypoint method by exploiting sensors, GPS and communication devices. Result shows that this robot is able to search the victims autonomously by detecting their slight movement and temperature then sending the coordinates to the SAR team for the rescue operation. This robot is also able to do the return trip autonomously to the initial post for charging when its power is almost running out.Keywords: autonomous robot, waypoint, disaster, victim searching, return trip
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Bogue, Robert. "EuRathlon: the autonomous robot challenge." Industrial Robot: An International Journal 41, no. 1 (January 14, 2014): 50–55. http://dx.doi.org/10.1108/ir-10-2013-405.
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Purpose – This article aims to describe euRathlon 2013, the first competitive event in a three-year, EU-funded programme for autonomous robots, which was held in Germany in September 2013. Design/methodology/approach – Following an introduction, this describes the teams and their robots, the scenarios in which they had to compete, the results and details of the winning robots. It concludes with a short discussion. Findings – Thirteen academic and corporate teams competed in five tasks that simulated a range of challenging terrestrial disaster response scenarios. Performance was assessed and scored by a panel of judges and prizes were awarded to the teams that performed best. Originality/value – This provides details of an important competition that seeks to enhance Europe's autonomous robot capabilities.
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Zghair, Noor Abdul Khaleq, and Ahmed S. Al-Araji. "A one decade survey of autonomous mobile robot systems." International Journal of Electrical and Computer Engineering (IJECE) 11, no. 6 (December 1, 2021): 4891. http://dx.doi.org/10.11591/ijece.v11i6.pp4891-4906.
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<span lang="EN-US">Recently, autonomous mobile robots have gained popularity in the modern world due to their relevance technology and application in real world situations. The global market for mobile robots will grow significantly over the next 20 years. Autonomous mobile robots are found in many fields including institutions, industry, business, hospitals, agriculture as well as private households for the purpose of improving day-to-day activities and services. The development of technology has increased in the requirements for mobile robots because of the services and tasks provided by them, like rescue and research operations, surveillance, carry heavy objects and so on. Researchers have conducted many works on the importance of robots, their uses, and problems. This article aims to analyze the control system of mobile robots and the way robots have the ability of moving in real-world to achieve their goals. It should be noted that there are several technological directions in a mobile robot industry. It must be observed and integrated so that the robot functions properly: Navigation systems, localization systems, detection systems (sensors) along with motion and kinematics and dynamics systems. All such systems should be united through a control unit; thus, the mission or work of mobile robots are conducted with reliability.</span>
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Chan, Yao‐Cheng, and Elliott Hauser. "Understanding Reactions in Human‐Robot Encounters with Autonomous Quadruped Robots." Proceedings of the Association for Information Science and Technology 60, no. 1 (October 2023): 86–97. http://dx.doi.org/10.1002/pra2.771.
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ABSTRACTIncidental human‐robot encounters are becoming more common as robotic technologies proliferate, but there is little scientific understanding of human experience and reactions during these encounters. To contribute towards addressing this gap, this study applies Grounded Theory methodologies to study human reactions in Human‐Robot Encounters with an autonomous quadruped robot. Based upon observation and interviews, we find that participants' reactions to the robot can be explained by their attitudes of familiarity, certainty, and confidence during their encounter and by their understanding of the robot's capabilities and role. Participants differed in how and whether they utilized opportunities to resolve their unfamiliarity, uncertainty, or lack of confidence, shedding light on the dynamics and experiential characteristics of Human‐Robot Encounters. We provide an emerging theory that can be used to unravel the complexity of the field as well as assist hypothesis generation in future research in designing and deploying mobile autonomous service robots.
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Pan, Qiran. "Design and analysis of an autonomous warehouse robot system with 6-DOF manipulator." Applied and Computational Engineering 34, no. 1 (January 22, 2024): 114–21. http://dx.doi.org/10.54254/2755-2721/34/20230310.
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With the increasing need for efficiency and accuracy in warehouse operations, the functions and market demands of automated warehouse robots are constantly increasing. This study presents the design, simulation, and implementation of a warehouse robot, showcasing effective automation solution. Leveraging the Robot Operating System (ROS) and Gazebo, a robot with a six-degree-of-freedom robotic arm for diverse manipulation tasks and a differential drive base for broad-spectrum navigation was designed. The simulation environment in Gazebo faithfully replicates real-world warehouse conditions, enabling comprehensive path planning and real-time modifications, powered by move_base. A camera sensor serves as the robot's safety system, designed to detect moving obstacles and initiate appropriate responses, contributing to the enhancement of warehouse safety standards. Simulation results demonstrate the robot's effectiveness in performing pick-and-place tasks while successfully navigating through the environment, indicating the significant potential for real-world warehouse automation applications. Therefore, this work provides a foundation reference for future research aimed at optimizing and expanding the capabilities of autonomous warehouse robots.