Academic literature on the topic 'Modular and cooperative multi-robotic vehicle system'
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Journal articles on the topic "Modular and cooperative multi-robotic vehicle system"
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Roy, Swarnabha, Tony Vo, Steven Hernandez, Austin Lehrmann, Asad Ali, and Stavros Kalafatis. "IoT Security and Computation Management on a Multi-Robot System for Rescue Operations Based on a Cloud Framework." Sensors 22, no. 15 (July 26, 2022): 5569. http://dx.doi.org/10.3390/s22155569.
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There is a growing body of literature that recognizes the importance of Multi-Robot coordination and Modular Robotics. This work evaluates the secure coordination of an Unmanned Aerial Vehicle (UAV) via a drone simulation in Unity and an Unmanned Ground Vehicle (UGV) as a rover. Each robot is equipped with sensors to gather information to send to a cloud server where all computations are performed. Each vehicle is registered by blockchain ledger-based network security. In addition to these, relevant information and alerts are displayed on a website for the users. The usage of UAV–UGV cooperation allows for autonomous surveillance due to the high vantage field of view. Furthermore, the usage of cloud computation lowers the cost of microcontrollers by reducing their complexity. Lastly, blockchain technology mitigates the security issues related to adversarial or malicious robotic nodes connecting to the cluster and not agreeing to privacy rules and norms.
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Zhang, Ronghui, Cong Liu, Wanting Gou, and Qiang Liu. "Comprehensive performance analysis and optimal design of smart light pole for cooperative vehicle infrastructure system." Nanotechnology Reviews 10, no. 1 (January 1, 2021): 904–18. http://dx.doi.org/10.1515/ntrev-2021-0061.
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Abstract On the basis of the finite element theory, in this study, a theoretical design and simulation practice to carry out steady-state static analysis, structural dynamics analysis, and electromagnetic interferencecharacteristics analysis on smart light poles, is combined. On this basis, a design of modular weight reduction and cost reduction was proposed, which realized the multi-objective parameter optimization of the smart light pole. The simulation results show that the mass of the optimized light pole can be reduced by 14.2%, and the material cost can be reduced by 14.7%. At the same time, the comprehensive performance of the optimized smart light pole can still meet the design requirements of the industry standards. The research results provide a reference for the lightweight design and the comprehensive analysis of the smart light pole in the future.
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Yuan, Jian, Feng Li Zhang, and Zhong Hai Zhou. "Finite-Time Formation Control for Autonomous Underwater Vehicles with Limited Speed and Communication Range." Applied Mechanics and Materials 511-512 (February 2014): 909–12. http://dx.doi.org/10.4028/www.scientific.net/amm.511-512.909.
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Cooperative control of multiple autonomous underwater vehicles (AUVs) plays an important role on marine scientific investigation and marine development. The formation of multi-AUV can significantly enhance applications on the marine sampling, imaging, surveillance and communications. Compared to the formation control of multi-robot, the formation control of multi-AUV is particularly difficult, especially on controlling attitude and direction of AUV; what is more, the communication method among AUVs is acoustic. When communication distance increases, the communication qualities deteriorate quickly; this mainly makes time-delay, signal attenuation and distortion. Although formation control of multiple AUVs obtains a wide range of attention in recent years, the fruits on formation control problem are less than ones on land multi-robot problems. For example, Fiorelli conducted a collaborative and adaptive sampling research of multi-AUV at the Monterey Bay [; Yu and Ura carried out the cable-based modular fast-moving and obstacle-avoidance experiments, and presented an interconnected multi-AUV system with three-dimension sensors. On the aspect of formation control framework [2-, [ proposed a four-layer cooperative control strategy based on hierarchical structure; [ proposed a hierarchical control framework based on hybrid model. In addition, Yang converted a nonholonomic system to a chain one and designed a controller to implement a leader-follower formation for multiple AUVs in [. The formation control for multiple autonomous underwater vehicles is rather different than the control methods for other vehicles, because the formation control for AUVs is of its characteristics, such as the large-scale distribution in space. The finite-time consensus controller designing based on finite-time control and consensus problem has important theoretical and practical significance. The decentralized controller methods for the autonomous underwater vehicle are applied more and more, but they ignore the coupling relationship between them. Another method is that an AUV is modeling as an agent, but this method ignores attitude characteristics of AUVs (pitch, roll and yaw). In this paper, we consider the cooperative control problem in three dimensional spaces. Finite-time formation for Autonomous Underwater Vehicles (AUVs) with constraints on communication range is investigated. We proposed a two-layer finite-time consensus control law, to avoid leading to collapse on formation because of failure leader, all AUVs are arrayed in the same level and each AUV can obtain global formation information. Finally, the simulation results show the effectiveness of the control strategy.
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Nantogma, Sulemana, Keyu Pan, Weilong Song, Renwei Luo, and Yang Xu. "Towards Realizing Intelligent Coordinated Controllers for Multi-USV Systems Using Abstract Training Environments." Journal of Marine Science and Engineering 9, no. 6 (May 22, 2021): 560. http://dx.doi.org/10.3390/jmse9060560.
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Unmanned autonomous vehicles for various civilian and military applications have become a particularly interesting research area. Despite their many potential applications, a related technological challenge is realizing realistic coordinated autonomous control and decision making in complex and multi-agent environments. Machine learning approaches have been largely employed in simplified simulations to acquire intelligent control systems in multi-agent settings. However, the complexity of the physical environment, unrealistic assumptions, and lack of abstract physical environments derail the process of transition from simulation to real systems. This work presents a modular framework for automated data acquisition, training, and the evaluation of multiple unmanned surface vehicles controllers that facilitate prior knowledge integration and human-guided learning in a closed-loop. To realize this, we first present a digital maritime environment of multiple unmanned surface vehicles that abstracts the real-world dynamics in our application domain. Then, a behavior-driven artificial immune-inspired fuzzy classifier systems approach that is capable of optimizing agents’ behaviors and action selection in a multi-agent environment is presented. Evaluation scenarios of different combat missions are presented to demonstrate the performance of the system. Simulation results show that the resulting controllers can achieved an average wining rate between 52% and 98% in all test cases, indicating the effectiveness of the proposed approach and its feasibility in realizing adaptive controllers for efficient multiple unmanned systems’ cooperative decision making. We believe that this system can facilitate the simulation, data acquisition, training, and evaluation of practical cooperative unmanned vehicles’ controllers in a closed-loop.
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Yoshida, Eiichi, Satoshi Murata, Akiya Kamimura, Kohji Tomita, Haruhisa Kurokawa, and Shigeru Kokaji. "A Self-Reconfigurable Modular Robot: Reconfiguration Planning and Experiments." International Journal of Robotics Research 21, no. 10-11 (October 2002): 903–15. http://dx.doi.org/10.1177/0278364902021010835.
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In this paper we address a reconfiguration planning method for locomotion of a homogeneous modular robotic system and we conduct an experiment to verify that the planned locomotion can be realized by hardware. Our recently developed module is self-reconfigurable. A group of the modules can thus generate various three-dimensional robotic structures and motions. Although the module itself is a simple mechanism, self-reconfiguration planning for locomotion presents a computationally difficult problem due to the many combinatorial possibilities of modular configurations. In this paper, we develop a two-layered planning method for locomotion of a class of regular structures. This locomotion mode is based on multi-module blocks. The upper layer plans the overall cluster motion called flow to realize locomotion along a given desired trajectory; the lower layer determines locally cooperative module motions, called motion schemes, based on a rule database. A planning simulation demonstrates that this approach effectively solves the complicated planning problem. Besides the fundamental motion capacity of the module, the hardware feasibility of the planning locomotion is verified through a self-reconfiguration experiment using the prototype modules we have developed.
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Serdaris, Panagiotis, Konstantinos Spinthiropoulos, Michael Agrafiotis, and Athanasios Zisopoulos. "The Minimum Agriculture-Chunk as an Elementary Data Science Component in ADAM, a Micro Targeted, Trainable, Modular, Multipurpose System for Land Farming." Journal of Agricultural Studies 6, no. 4 (December 25, 2018): 84. http://dx.doi.org/10.5296/jas.v6i4.14116.
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The poor Data Science support of agriculture brought us to our main idea of the research is to analyze all micro-works for every plant or tree. Then we proceed to specify targeted actions for harvest collection, micro spraying and hundreds similar simple actions. Initially we collect data from the farm. The airborne, land and underwater unmanned vehicles scan the field area with customized various sensors and cameras in various multi spectral modes. The result is minimum agro-chunk Four-Dimensional model. The unmanned vehicle on the field area receives target data. It is equipped with a general-purpose robotic arm, an absorbing bellow, a robotic pruner, a liquid spraying pipe, an underwater robotic arm and hundreds of others. It moves there and performs the commanded action. Action is flower or nuts collection, insect suction pruning and hundred more. All operations are high trainable by human intervention and the system stores its approach and logic for future action correction.
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Asama, Hajime. "Special Issue on Distributed Robotic Systems." Journal of Robotics and Mechatronics 8, no. 5 (October 20, 1996): 395. http://dx.doi.org/10.20965/jrm.1996.p0395.
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Distributed Robotic Systems are focused on as a new strategy to realize flexible, robust and fault-tolerant robotic systems. In conferences and symposia held recently, the number of papers related to the Distributed Robotic Systems has increased rapidly1,2,3) which shows this area has become one of the most interesting subjects in robotics. The Distributed Robotic Systems require a broad area of interdisciplinary technologies related not only to robotics and computer engineering (especially distributed artificial intelligence and artificial life), but also to biology and psychology. Distributed Robotic Systems can be defined as robot systems which are composed of various types and levels of units, such as cells, modules, agents and robots. One category of papers included in this volume is a robot with a distributed architecture, where modular structure is adopted and/or the robot system is controlled by many CPUs in a distributed manner. Cellular robotic systems are included in this category4). Another category of the papers is cooperative motion control of multiple robots. Coordinated control of multiple manipulators and cooperative motion control by multiple mobile robots using communication are discussed in these papers. The new elemental technologies are also presented, which are required for realization of advanced cooperative motion control of multiple autonomous mobile robots in this volume. The last category of the papers is self-organization of distributed robotic systems. Though the Journal of Robotics and MecharQnics has already published the special issues on the self-organization system,5,6) the latest progress is also presented in this volume. The papers belonging to this category are directed to swarm/collective intelligence in multi-robot cooperation issues. I believe this special issue will inspire the reader's interests in the Distributed Robotic Systems and accelerate the growth of this new arising interdisciplinary research area. References: 1)H.Asama, T.Fukuda, T.Arai and I.Endo eds., Distributed Autonomous Robotic Systems, Springer-Verlag, Tokyo, (1994). 2) H.Asama, T.Fukuda, T.Arai and I.Endo eds.,Distributed Autonomous Robotic Systems 2 , Springer-Verlag, Tokyo, (1996). 3) Robotics Society of Japan, Advanced Robotics 10,6, (1996). 4) T.Fukuda and T.Ueyama, Cellullar Robotics and Micro Robotic Systems,World Scientific, Singapore, (1994). 5) Fuji Technology Press Ltd., Journal of Robotics and Mechatronics,4,2,(1992). 6) Fuji Technology Press Ltd., Journal of Robotics and Mechatronics,4,3,(1992).
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Liu, Yuan, Yan Peng, Min Wang, Jiajia Xie, and Rui Zhou. "Multi-USV System Cooperative Underwater Target Search Based on Reinforcement Learning and Probability Map." Mathematical Problems in Engineering 2020 (May 14, 2020): 1–12. http://dx.doi.org/10.1155/2020/7842768.
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Unmanned surface vehicle (USV) is a robotic system with autonomous planning, driving, and navigation capabilities. With the continuous development of applications, the missions faced by USV are becoming more and more complex, so it is difficult for a single USV to meet the mission requirements. Compared with a single USV, a multi-USV system has some outstanding advantages such as fewer perceptual constraints, larger operation ranges, and stronger operation capability. In the search mission about multiple stationary underwater targets by a multi-USV system in the environment with obstacles, we propose a novel cooperative search algorithm (CSBDRL) based on reinforcement learning (RL) method and probability map method. CSBDRL is composed of the environmental sense module and policy module, which are organized by the “divide and conquer” policy-based architecture. The environmental sense module focuses on providing environmental sense values by using the probability map method. The policy module focuses on learning the optimal policy by using RL method. In CSBDRL, the mission environment is modeled and the corresponding reward function is designed to effectively explore the environment and learning policies. We test CSBDRL in the simulation environment and compare it with other methods. The results prove that compared with other methods, CSBDRL makes the multi-USV system have a higher search efficiency, which can ensure targets are found more quickly and accurately while ensuring the USV avoids obstacles in time during the mission.
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Akinina, Tatyana, Volodymyr Symonenkov, Inna Symonenkova, and German Trushkov. "IMPROVING THE EFFICIENCY OF APPLICATION UNCAVATED UNDERWATER DEVICES FOR THE NEEDS OF THE NAVAL FORCES OF THE ARMED FORCES OF UKRAINE." Collection of scientific works of Odesa Military Academy, no. 16 (February 11, 2022): 126–34. http://dx.doi.org/10.37129/2313-7509.2021.16.126-134.
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The article considers the problems related to the need to use unmanned submarines for the needs of the Navy of the Armed Forces of Ukraine with the possibility of using the latest information technologies, namely, study of acoustic means of monitoring physical processes in the marine environment, which are the most effective technologies , which significantly supplement and expand the possibilities of contact methods for measuring environmental indicators in technical solutions for underwater monitoring. Methods of solving the tasks on the basis of optimal use of sonar underwater monitoring are proposed in order to increase the overall sensitivity of the sonar system to the useful signal and reduce the sensitivity to "natural" background or intentional interference by using small multi-beam sonar MEMS technology using. Modular design of underwater robotic vehicles, which are one of the promising areas of development of naval equipment, based on the principle of open architecture involves the construction of their components as integral functional elements of the modular type. Therefore, there is a need to create cheap, easy to manufacture and install small hydroacoustic blocks-modules based on the use of MEMS technology, which reduces the overall cost and increases the survivability of the BPA as a whole. It should be noted that the modular design of underwater robotic vehicles, which are one of the promising areas of development of naval equipment, based on the principle of open architecture involves the construction of their components (basic elements) as integral functional elements of the modular type. It is proposed to use the obtained results in the course of further research within the framework of research and development on the creation of promising mobile unmanned aerial vehicles for underwater monitoring and surveillance. Keywords: unmanned underwater vehicle, robotic search and observation technologies, marine situation, underwater situation, microelectromechanical systems.
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Danielis, Peter, Helge Parzyjegla, Mostafa Assem Mohamed Ali, and Frank Sill Torres. "Simulation model for energy consumption and acoustic underwater communication of autonomous underwater vehicles." WMU Journal of Maritime Affairs 21, no. 1 (November 29, 2021): 89–107. http://dx.doi.org/10.1007/s13437-021-00253-z.
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AbstractRecently, cooperative autonomous underwater vehicles (AUVs) have been deployed in application areas such as surveillance and protection of maritime infrastructures for inspection and monitoring purposes. These cooperative methodologies require wireless transmission of data between the different AUVs operating in the underwater environment. Communication over ranges exceeding 100 m exclusively relies on underwater acoustic communication. However, the propagating acoustic waves suffer from several challenges due to the presence of path loss, multi-path propagation, the slow and variant propagation speed, background noise, and Doppler distortion. Since the power supply of the AUVs is limited, communication must be very energy efficient and energy constraints have to be known to be able to plan the mission of AUVs. Due to the difficulties of real experiments, the modeling and simulation of the energy consumption and underwater acoustic communication play an essential role in studying and developing these systems. We provide a modular simulation model for the energy consumption and acoustic underwater communication of AUVs implemented in the network simulator OMNeT++ using the INET framework. More specifically, we extend several INET modules in such a way as to reflect the characteristics of AUVs and underwater communication. We study and analyze the AUVs’ energy consumption and dependence of the message quality on different properties such as those mentioned above.
Book chapters on the topic "Modular and cooperative multi-robotic vehicle system"
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Daneshfar, Fatemeh, and Javad RavanJamJah. "A New Design of Intelligent Traffic Signal Control." In Transportation Systems and Engineering, 1686–702. IGI Global, 2015. http://dx.doi.org/10.4018/978-1-4666-8473-7.ch080.
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Dynamic traffic signal control in Intelligent Transportation System (ITS) recently has received increasing attention. This paper proposed an adaptive and cooperative multi-agentfuzzy system for a decentralized traffic signal control. The proposed model has three levels of control, the current intersection traffic situation, its neighboring intersections recommendations and a knowledge base, which provides the current intersection traffic pattern. The proposed architecture comprises a knowledge base, prediction module and a traffic observer that provide data to real traffic data preparation module, then a decision-making layer takes decision to how long should the intersection green light be extended. Also every intersection flow is predicted in two different ways: 1- through a recursive algorithm. 2- based on a two stage fuzzy clustering algorithm. The proposed solution is tested with traffic control of a large connected junction and the result obtained is promising in comparison to the conventional fixed sequence traffic signal and to the vehicle actuated traffic signal control strategies which are the most applicable strategies in this area. Also to simulate the proposed traffic control solutions, a Netlogo-based traffic simulator has been developed as the agents' world which simulates the roads, traffic flow and intersections.
Conference papers on the topic "Modular and cooperative multi-robotic vehicle system"
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Bhatt, Rajankumar, Chin Pei Tang, Michel Abou-Samah, and Venkat Krovi. "A Screw-Theoretic Analysis Framework for Payload Manipulation by Mobile Manipulator Collectives." In ASME 2005 International Mechanical Engineering Congress and Exposition. ASMEDC, 2005. http://dx.doi.org/10.1115/imece2005-81525.
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In recent times, there has been considerable interest in creating and deploying modular cooperating collectives of robots. Interest in such cooperative systems typically arises when certain tasks are either too complex to be performed by a single agent or when there are distinct benefits that accrue by cooperation of many simple robotic modules. However, the nature of the both the individual modules as well as their interactions can affect the overall system performance. In this paper, we examine this aspect in the context of cooperative payload transport by robot collectives wherein the physical nature of the interactions between the various modules creates a tight coupling within the system. We leverage the rich theoretical background of analysis of constrained mechanical systems to provide a systematic framework for formulation and evaluation of system-level performance on the basis of the individual-module characteristics. The composite multi-d.o.f wheeled vehicle, formed by supporting a common payload on the end-effectors of multiple individual mobile manipulator modules, is treated as an in-parallel system with articulated serial-chain arms. The system-level model, constructed from the twist- and wrench-based models of the attached serial chains, can then be systematically analyzed for performance (in terms of mobility and disturbance rejection.) A 2-module composite system example is used through the paper to highlight various aspects of the systematic system model formulation, effects of selection of the actuation at the articulations (active, passive or locked) on system performance and experimental validation on a hardware prototype test bed.
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Abou-Samah, Michel, and Venkat Krovi. "Decentralized Kinematic Control of a Cooperating System of Mobile Manipulators." In ASME 2002 International Mechanical Engineering Congress and Exposition. ASMEDC, 2002. http://dx.doi.org/10.1115/imece2002-32691.
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In this paper, we examine the development of a decentralized control framework for a modular system of wheeled mobile manipulators that can team up to cooperatively transport a large common object. Each individually autonomous mobile manipulator consists of a differentially-driven wheeled mobile robot (WMR) with a passive, two-degree-of-freedom, planar, revolute-jointed arm mounted in the plane parallel to the base of the WMR. The composite multi-degree-of-freedom vehicle, formed by placing a common object on the end-effector of two (or more) such mobile manipulator systems, possesses the ability to accommodate relative positioning errors of the mobile bases as well as change its relative configuration. Particular attention is paid for the development of kinematic control schemes for mobile manipulators, which take into account the non-holonomic constraints of the base and the presence of passive joints in the manipulator system. The control scheme developed for the individual mobile manipulators is then adapted for the decentralized kinematic control of two mobile manipulators carrying a common object along a desired trajectory. Experimental evaluation of the performance of the resulting approach and the ability of the overall collaborating system to accommodate, detect and correct for relative positioning errors between the mobile platforms is also presented.
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Tan, Aaron Hao, Haoxiang Lang, and Moustafa El-Gindy. "A Novel Autonomous Scaled Electric Combat Vehicle." In ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/detc2019-97163.
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Abstract Current literature pertaining to multi-steerable mobile platforms and the progression of military vehicles in the past few decades suggest a lack of effort in pursuing advanced technologies in this joint area. As a result, a novel 1:6 scaled electric combat vehicle prototype that features eight independently driven and steerable wheels is designed and developed in this paper. The intent is to create a scaled model for future autonomous vehicle navigation and control research in off road terrains. Starting with the mechanical design, this paper discusses the details of the chassis, suspension, driving and steering systems development. The electronics necessary for vehicle actuation is implemented with custom nodes and topics created for hardware communication within the Robot Operating System (ROS). Lastly, path planning and obstacle avoidance abilities are implemented to achieve autonomous navigation. The result of this work is a fully functional and instrumented robotic platform with a modular software architecture. Vehicle design analysis, performance and autonomous navigation abilities are experimentally tested with promising results.