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1
Stipančić, Tomislav, Bojan Jerbić, and Petar Ćurković. "Probabilistic Approach to Robot Group Control." Advanced Materials Research 317-319 (August 2011): 742–49. http://dx.doi.org/10.4028/www.scientific.net/amr.317-319.742.
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The objective of this paper is to discuss the probabilistic part of the model for robot group control applied in industrial applications. The proposed model is based on well-known concepts of Ubiquitous Computing [1] and enables contextual perception of a working environment. Compared with classical industrial robots, usually preprogrammed for a limited number of operations / actions, the system based on this model can react in uncertain situations and scenarios. The model combines ontology to describe the specific domain of interest and decision–making mechanisms based on Bayesian Networks (BN) to enable the work of a single robot without human intervention by learning Behavioral Patterns (BP) of other robots in the group.
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Chen, Wenzhou, Shizheng Zhou, Zaisheng Pan, Huixian Zheng, and Yong Liu. "Mapless Collaborative Navigation for a Multi-Robot System Based on the Deep Reinforcement Learning." Applied Sciences 9, no. 20 (October 9, 2019): 4198. http://dx.doi.org/10.3390/app9204198.
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Compared with the single robot system, a multi-robot system has higher efficiency and fault tolerance. The multi-robot system has great potential in some application scenarios, such as the robot search, rescue and escort tasks, and so on. Deep reinforcement learning provides a potential framework for multi-robot formation and collaborative navigation. This paper mainly studies the collaborative formation and navigation of multi-robots by using the deep reinforcement learning algorithm. The proposed method improves the classical Deep Deterministic Policy Gradient (DDPG) to address the single robot mapless navigation task. We also extend the single-robot Deep Deterministic Policy Gradient algorithm to the multi-robot system, and obtain the Parallel Deep Deterministic Policy Gradient (PDDPG). By utilizing the 2D lidar sensor, the group of robots can accomplish the formation construction task and the collaborative formation navigation task. The experiment results in a Gazebo simulation platform illustrates that our method is capable of guiding mobile robots to construct the formation and keep the formation during group navigation, directly through raw lidar data inputs.
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Choi, Taeyong, Jongwoo Park, Jeong-Jung Kim, Young-Sik Shin, and Hyunuk Seo. "Work Efficiency Analysis of Multiple Heterogeneous Robots for Harvesting Crops in Smart Greenhouses." Agronomy 12, no. 11 (November 14, 2022): 2844. http://dx.doi.org/10.3390/agronomy12112844.
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Extensive research is being conducted on using robots to automate harvest. However, most of the existing research is focused on the realization of harvesting using a single robot, and there have been very few studies on harvesting and transporting crops from a smart-greenhouse perspective. In this study, we demonstrate that the work efficiency is higher when a plurality of harvesting and transporting robots are used in tandem for harvesting crops in a smart greenhouse, compared to that when a single robot is used. The harvesting and transporting speeds of these robots are modeled in accordance with the facility environment. The operating speed of the robot group comprising only the harvesting robot and the harvesting and transporting robots is derived. In addition, the derived operating speed is analyzed based on the experimental data of the developed harvesting and transporting robots, and it was found that the overall operating speed increased when an appropriate combination of harvesting and transporting robots was used.
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Sueoka, Yuichiro, Wei Jie Yong, Naoto Takebe, Yasuhiro Sugimoto, and Koichi Osuka. "Effect of Robotic Pile-Up Mechanism on Cooperative Transportation for Versatile Objects." Journal of Robotics and Mechatronics 35, no. 4 (August 20, 2023): 938–47. http://dx.doi.org/10.20965/jrm.2023.p0938.
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In recent years, cooperative transportation systems using multiple mobile robots have been studied. The advantage will be to transport objects that cannot be dealt with by a single robot and transport them by using smaller robots. Although cooperative transportation by a group of robots has been studied, the conventional transportation targets are limited to objects whose posture is stable. In this paper, we propose a system in which robots pile up on each other to support an object, aiming at a system for more versatile object transportation, including unstable objects. After deriving the conditions by modeling the support system in object transportation, we verify the transporting performance including the robotic pile-up effect through actual robot experiments.
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Sugawara, Ken, Masaki Sano, and Toshinori Watanabe. "A Study on a Foraging Behavior of Interacting Simple Robots." Journal of Advanced Computational Intelligence and Intelligent Informatics 7, no. 2 (June 20, 2003): 108–14. http://dx.doi.org/10.20965/jaciii.2003.p0108.
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Considerable research is currently being conducted in the area of multi-robot systems. The most remarkable characteristic of these types of systems is that the robots are able to work cooperatively to complete a task that a single robot cannot accomplish by itself. This characteristic is essential in the investigation of the effect of the number of robots in a given system. Out of the various possible multi-robot tasks, a foraging task was chosen for these experiments. The robots used in the experiments referenced by this paper had a simple interaction method with a light signal. The robots’ behavior in a one feeding point field was first discussed. This behavior was analyzed by both a robot simulation and a mathematical model. In the next experiment, numerous feeding points, equidistant from the home location, were arranged in the foraging field. The performance of the robots in this arrangement was then discussed. This report highlights the ordered behavior of the robot group, which greatly depends upon the number of robots and the strength of their interaction.
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Rubtsov, V. I., K. J. Mashkov, and K. V. Konovalov. "Multi-Level Control System for an Intelligent Robot that is Part of a Group." Mekhatronika, Avtomatizatsiya, Upravlenie 22, no. 11 (November 9, 2021): 610–15. http://dx.doi.org/10.17587/mau.22.610-615.
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The article is devoted to the application of a group of robotic complexes for military purposes. The current state of control systems of single robotic complexes does not allow solving all the tasks assigned to the robot. The analysis of methods of controlling a group of robots in combat conditions is carried out. The necessity of using a multi-level control system for an intelligent combat robot is justified. A multi-level control system for an intelligent robot is proposed. Such a system assumes the possibility of controlling the robot in one of four modes: remote, supervisory, autonomous and group. Moreover, each robot, depending on the external conditions and its condition, can be in any control mode. The application of the technique is shown by the example of the movement of a group of robots with an interval along the front. The problem of the movement of slave robots behind the leader is considered. When forming the robot control algorithm, the method of finite automata was used. The algorithm controls the movement of the RTK in various operating modes: group control mode and autonomous movement mode. In the group control mode, the task is implemented: movement for the leader. For the state of "Movement in formation", an algorithm for forming the trajectory of the movement of guided robots was implemented. An algorithm for approximating the Bezier curve was used. It allows you to build a trajectory for the slave robot. On the basis of the obtained trajectory, the angular and linear velocity were calculated. In the autonomous control mode, two tasks are solved: moving to a given point and avoiding obstacles. Vector Field Histogram was used as an algorithm for detouring an obstacle, which determines the direction of movement without obstacles. The state of "Movement to a given point" is based on Pure Pursuit as a simple and reliable algorithm for solving such problems. A computer model of the movement of a group of robots was developed. The model is implemented in the MATLAB program using the Simulink and Mobile Robotics Simulation Toolbox libraries. Several different variants of the movement of the RTK group are modeled, which differ from each other in the initial location of the robots and the position of obstacles. The conducted computer simulation showed the efficiency and effectiveness of the proposed method of RTC control.
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Endo, Takahiro, Ryuma Maeda, and Fumitoshi Matsuno. "Stability Analysis of Swarm Heterogeneous Robots with Limited Field of View." Informatics and Automation 19, no. 5 (October 13, 2020): 942–66. http://dx.doi.org/10.15622/ia.2020.19.5.2.
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This paper presents a stability analysis of swarm robots, a group of multiple robots. In particular, we focus on robot swarms with heterogeneous abilities, in which each robot has a different sensing range and physical limitations, including maximum velocity and acceleration. In addition, each robot has a unique sensing region with a limited angle field of view. We previously proposed a decentralized navigation method for such heterogeneous swarm robots consisting of one leader and multiple followers. With the decentralized navigation method, a single leader can navigate for followers while maintaining connectivity and satisfying the physical limitations unique to each robot; i.e., each follower has a target robot and follows it without violating its physical limitations. In this paper, we focus on a stability analysis of such swarm robots. When the leader moves at a constant velocity, we mathematically prove that the shape and orientations of all robots eventually converge to the equilibrium state. For this, we must first prove that the equilibrium state exists. Then, we show the convergence of the state to its equilibrium. Finally, we carry out experiments and numerical simulations to confirm the stability analysis, i.e., the convergence of the swarm robots to the equilibrium states.
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Geng, Mingyang, Shuqi Liu, and Zhaoxia Wu. "Sensor Fusion-Based Cooperative Trail Following for Autonomous Multi-Robot System." Sensors 19, no. 4 (February 17, 2019): 823. http://dx.doi.org/10.3390/s19040823.
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Autonomously following a man-made trail in the wild is a challenging problem for robotic systems. Recently, deep learning-based approaches have cast the trail following problem as an image classification task and have achieved great success in the vision-based trail-following problem. However, the existing research only focuses on the trail-following task with a single-robot system. In contrast, many robotic tasks in reality, such as search and rescue, are conducted by a group of robots. While these robots are grouped to move in the wild, they can cooperate to lead to a more robust performance and perform the trail-following task in a better manner. Concretely, each robot can periodically exchange the vision data with other robots and make decisions based both on its local view and the information from others. This paper proposes a sensor fusion-based cooperative trail-following method, which enables a group of robots to implement the trail-following task by fusing the sensor data of each robot. Our method allows each robot to face the same direction from different altitudes to fuse the vision data feature on the collective level and then take action respectively. Besides, considering the quality of service requirement of the robotic software, our method limits the condition to implementing the sensor data fusion process by using the “threshold” mechanism. Qualitative and quantitative experiments on the real-world dataset have shown that our method can significantly promote the recognition accuracy and lead to a more robust performance compared with the single-robot system.
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Otte, Michael. "An emergent group mind across a swarm of robots: Collective cognition and distributed sensing via a shared wireless neural network." International Journal of Robotics Research 37, no. 9 (July 23, 2018): 1017–61. http://dx.doi.org/10.1177/0278364918779704.
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We pose the “trained-at-runtime heterogeneous swarm response problem,” in which a swarm of robots must do the following three things: (1) Learn to differentiate between multiple classes of environmental feature patterns (where the feature patterns are distributively sensed across all robots in the swarm). (2) Perform the particular collective behavior that is the appropriate response to the feature pattern that the swarm recognizes in the environment at runtime (where a collective behavior is defined by a mapping of robot actions to robots). (3) The data required for both (1) and (2) is uploaded to the swarm after it has been deployed, i.e., also at runtime (the data required for (1) is the specific environmental feature patterns that the swarm should learn to differentiate between, and the data required for (2) is the mapping from feature classes to swarm behaviors). To solve this problem, we propose a new form of emergent distributed neural network that we call an “artificial group mind.” The group mind transforms a robotic swarm into a single meta-computer that can be programmed at runtime. In particular, the swarm-spanning artificial neural network emerges as each robot maintains a slice of neurons and forms wireless neural connections between its neurons and those on nearby robots. The nearby robots are discovered at runtime. Experiments on real swarms containing up to 316 robots demonstrate that the group mind enables collective decision-making based on distributed sensor data, and solves the trained-at-runtime heterogeneous swarm response problem. The group mind is a new tool that can be used to create more complex emergent swarm behaviors. The group mind also enables swarm behaviors to be a function of global patterns observed across the environment—where the patterns are orders of magnitude larger than the robots themselves.
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Beloglazov, Denis, Vladimir Pereverzev, Victor Soloviev, Viacheslav Pshikhopov, and Morozov Roman. "Method of Formation of Quantitative Indicators of Complexity of the Environment by a Group of Autonomous Mobile Robots." Journal of Robotics 2020 (April 30, 2020): 1–14. http://dx.doi.org/10.1155/2020/6874291.
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This article presents the methods that allow forming quantitative estimations of functional characteristics of a group of autonomous mobile robots (AMRs) and local areas of the environment surrounding it. The evaluation of the environment is based on the analysis of scattering of the cloud of obstacle points and made using the information formed by the computer vision system (CVS), which every robot in the group has. The core element of CSV is 3D lidar. Quantitative data about the complexity of the environment can be used for determining the optimal methods of solving the planning tasks and forming the patterns of group formation. Such data about the complexity of local areas of the environment can also be used for determining them as insurmountable for a single robot or a group of robots. The reason for such a decision can be the violation of safety rules and breaking of the group formation. The assessment of robots’ functional characteristics is performed based on the fuzzy model that consists of separate fuzzy classifiers; each of them allows obtaining a quantitative estimation of one of the parameters. The hierarchic structure of the used fuzzy model makes it significantly easier to synthesize and analyze it.
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Krid, Mohamed. "Design and Coordination of Cooperative Mobile Robots." IAES International Journal of Robotics and Automation (IJRA) 5, no. 2 (June 1, 2016): 115. http://dx.doi.org/10.11591/ijra.v5i2.pp115-135.
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<p>Object transportation is an important task considered in mobile robotics. For many years, it has been performed by single robots, capable to transport payload of moderate size and mass with respect to the robot size and mass. But if the payload gets bigger, the robot fails in the transporting task. For wider or heavier payloads, human operators improve their capacities by working in group. A similar improvement should be expected with a group of mobile robots.</p><p>In this paper, we proposed a new concept of cooperative mobile robots to deal with the problem of long object transportation in unstructured environment whatever the payload length. The proposed C3Bots AT/VLP robot is formed by the association of two or more mono-robots with simple kinematics forming a poly-robot system.</p><p>The paper presents several kinematic schemes and the corresponding obstacle-crossing processes. It deals with the problem of how to maintain stable motion for the poly-robot during obstacle crossing. Changes in the internal configuration of the robot adjust the center of gravity to guarantee stable motion. A specific stability criterion for contact on three wheels is presented. By adjusting the relative poses of the front and rear axles with respect to the payload, it is possible to maximize the stability of the poly-robot and its payload during obstacle crossing.</p>
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Ohara, Kenichi, Tamio Tanikawa, Mitsuhiro Toyoda, Hiroyuki Nakamoto, Masato Iijima, Yoshimasa Endo, Toru Takahashi, et al. "Smart Home Network System Integration with RT Middleware for Embedded Controller." Journal of Robotics and Mechatronics 24, no. 6 (December 20, 2012): 1014–22. http://dx.doi.org/10.20965/jrm.2012.p1014.
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General-purpose robots have been constructed by a central system managing all robot elements by using a single high performance controller. Through advances in semiconductor technology, however, robot system developers can choose several types of robot designs, such as distributed arrangement in a house environment. Robot systems, e.g., environmental robots, are an important topic in robotics. Standardized communications and device specifications are important in actually utilizing such robot system. A userfriendly framework is also important. In this paper, we propose RT middleware for an embedded controller, which is based on standardized specifications in the OMG (Object Management Group). We also introduce reference hardware for developed RT middleware. Last, the HEMS (Home Energy Management System) is shown as an example system using developed middleware.
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Baldassarre, Gianluca, Domenico Parisi, and Stefano Nolfi. "Distributed Coordination of Simulated Robots Based on Self-Organization." Artificial Life 12, no. 3 (July 2006): 289–311. http://dx.doi.org/10.1162/artl.2006.12.3.289.
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Distributed coordination of groups of individuals accomplishing a common task without leaders, with little communication, and on the basis of self-organizing principles, is an important research issue within the study of collective behavior of animals, humans, and robots. The article shows how distributed coordination allows a group of evolved, physically linked simulated robots (inspired by a robot under construction) to display a variety of highly coordinated basic behaviors such as collective motion, collective obstacle avoidance, and collective approach to light, and to integrate them in a coherent fashion. In this way the group is capable of searching and approaching a lighted target in an environment scattered with obstacles, furrows, and holes, where robots acting individually fail. The article shows how the emerged coordination of the group relies upon robust self-organizing principles (e.g., positive feedback) based on a novel sensor that allows the single robots to perceive the group's “average” motion direction. The article also presents a robust solution to a difficult coordination problem, which might also be encountered by some organisms, caused by the fact that the robots have to be capable of moving in any direction while being physically connected. Finally, the article shows how the evolved distributed coordination mechanisms scale very well with respect to the number of robots, the way in which robots are assembled, the structure of the environment, and several other aspects.
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Xiang, Yalun, Xiaokang Lei, Zhongxing Duan, Fangnan Dong, and Yanru Gao. "Self-Organized Patchy Target Searching and Collecting with Heterogeneous Swarm Robots Based on Density Interactions." Electronics 12, no. 12 (June 8, 2023): 2588. http://dx.doi.org/10.3390/electronics12122588.
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The issue of searching and collecting targets with patchy distribution in an unknown environment is a challenging task for multiple or swarm robots because the targets are unevenly dispersed in space, which makes the traditional solutions based on the idea of path planning and full spatial coverage very inefficient and time consuming. In this paper, by employing a novel framework of spatial-density-field-based interactions, a collective searching and collecting algorithm for heterogeneous swarm robots is proposed to solve the challenging issue in a self-organized manner. In our robotic system, two types of swarm robots, i.e., the searching robots and the collecting robots, are included. To start with, the searching robots conduct an environment exploration by means of formation movement with Levy flights; when the targets are detected by the searching robots, they spontaneously form a ring-shaped envelope to estimate the spatial distribution of targets. Then, a single robot is selected from the group to enter the patch and locates at the patch’s center to act as a guiding beacon. Subsequently, the collecting robots are recruited by the guiding beacon to gather the patch targets; they first form a ring-shaped envelope around the target patch and then push the scattered targets inward by using a spiral shrinking strategy; in this way, all targets eventually are stacked near the center of the target patch. With the cooperation of the searching robots and the collecting robots, our heterogeneous robotic system can operate autonomously as a coordinated group to complete the task of collecting targets in an unknown environment. Numerical simulations and real swarm robot experiments (up to 20 robots are used) show that the proposed algorithm is feasible and effective, and it can be extended to search and collect different types of targets with patchy distribution.
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Ohkawa, Kazuya, Takanori Shibata, and Kazuo Tanie. "Generation Method of Evaluation for a Robot Considering Relations with Other Robots." Journal of Robotics and Mechatronics 10, no. 4 (August 20, 1998): 284–88. http://dx.doi.org/10.20965/jrm.1998.p0284.
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This paper proposes a method of generating behavioral evaluations that considers relations to other robots to enable a single operator to control the behavior of multiple robots. We previously proposed an algorithm for individual robots to select their behavior considering the behavior of other robots, using a simple signal given by an operator to the group of robots as a whole. In this algorithm, a learning function was installed on individual robots to enable them to avoid conflict with other robots, and the behavioral evaluation necessary for executing learning had to be given to individual robots based on the situation. This paper explains how individual robots correct their own behavioral evaluation based on the signal given to the group by the operator. We propose behavioral evaluation correction that takes into account cases in which the operator makes mistakes in sending signals to robots or forgets to do so. We verify the effectiveness of the proposed method by simulation.
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Wang, Zhaoyan, Hengyu Li, Jun Liu, Tiehui Zhang, Xinru Ma, Shaorong Xie, and Jun Luo. "Static group-bipartite consensus in networked robot systems with integral action." International Journal of Advanced Robotic Systems 20, no. 3 (May 1, 2023): 172988062311771. http://dx.doi.org/10.1177/17298806231177148.
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With the increasing complexity of modern industry, the traditional single-target control of swarm robots can no longer meet application requirements. Hence, this article addresses compound task control for swarm robot systems, where the control aim and the dynamics of the robot are modeled by static group-bipartite consensus and Euler–Lagrange systems, respectively. After introducing the concept of static group-bipartite consensus in networked Euler–Lagrange systems, a distributed group-bipartite consensus control protocol with integral action is designed, and the criterion that ensures that static group-bipartite consensus is reached is presented. The most remarkable feature of the proposed algorithm is that it can accurately calculate the final state of system convergence. Finally, simulation examples are presented to verify the theoretical results.
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Chi, Zhuoyuan, Yusi Tu, Fangfang Gong, and Wenxi Tang. "A study on the performance and cost-effectiveness of robots in replacing manual nucleic acid collection method: Experience from the COVID-19 pandemic." PLOS ONE 17, no. 11 (November 3, 2022): e0276782. http://dx.doi.org/10.1371/journal.pone.0276782.
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Background The COVID-19 pandemic has led nucleic acid collection and detection became a measure to ensure normal life in China. Considering the huge detection demand, it has emerged that robots replace manual sample collection. However, the cost-effectiveness of nucleic acid collection by robots instead of humans remain unknown. Methods This study was approved by the Ethics Committee of the Shenzhen Luohu District People’s Hospital, number 2021-LHQRMYY-KYLL-031a. All participants signed the written informed consent of this study. 273 volunteers were recruited on December 1st 2021 from Shenzhen and divided into six groups: one group to be sampled by robots and the others to be sampled manually with varying specifications for swab rotation and insertion time. Questionnaires were distributed to the robot group to ask them sampling feeling. The effectiveness and safety of sampling were evaluated through the sampling efficiency, adverse events and sampling feeling of different groups. The economics of the different methods were judged by comparing the sampling cost for each. Results The sampling efficiency of the robot group was 96.9%, and there was no statistically significant difference between the other five manually sampled groups (p = 0.586). There were no serious adverse events in any of the six groups, but nasal soreness and tearing did occur in all group. Of the volunteers who underwent robotic sampling, 85.94% reported that the experience was either no different or more comfortable than the manual sampling. In economic terms, a single robot used to replace medical staff for sample collection becomes economically advantageous when the working time is ≥ 455 days. If multiple robots are used to replace twice the number of manual collections, it becomes more economical at 137 days and remains so as long as the robot is used. Conclusions It appears safe and effective for robots to replace manual sampling method. Implementation of robotic sampling is economical and feasible, and can significantly save costs when working over a long term.
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Navarro, Iñaki, and Fernando Matía. "An Introduction to Swarm Robotics." ISRN Robotics 2013 (September 4, 2013): 1–10. http://dx.doi.org/10.5402/2013/608164.
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Swarm robotics is a field of multi-robotics in which large number of robots are coordinated in a distributed and decentralised way. It is based on the use of local rules, and simple robots compared to the complexity of the task to achieve, and inspired by social insects. Large number of simple robots can perform complex tasks in a more efficient way than a single robot, giving robustness and flexibility to the group. In this article, an overview of swarm robotics is given, describing its main properties and characteristics and comparing it to general multi-robotic systems. A review of different research works and experimental results, together with a discussion of the future swarm robotics in real world applications completes this work.
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Lee, Hyeongsuk, Jeongeun Kim, Sukwha Kim, Hyoun-Joong Kong, Hyunjin Joo, Dongkyun Lee, and Hyeongju Ryu. "Usability Evaluation of User Requirement–Based Teleconsultation Robots: A Preliminary Report from South Korea." Methods of Information in Medicine 59, no. 02/03 (May 2020): 086–95. http://dx.doi.org/10.1055/s-0040-1715579.
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Abstract Background Telepresence robots used to deliver a point-of-care (POC) consultation system that may provide value to enable effective decision making by healthcare providers at care sites. Objectives This study aimed to evaluate usability of teleconsultation robots, based on endusers' needs, that can improve acceptance in future robot applications. Methods This is a single group postdesign study using mixed methods to assess the usability of teleconsultation robots using scenarios. To collect opinions from various departments, 15 nurses or physicians currently working at medical institutions in Korea were selected using purposive sampling. The usability evaluation was conducted on healthcare providers twice at the simulation center; the think-aloud method was used and surveys and interviews were conducted to identify problems or improvements that may arise from the use of robots in hospital settings. Results The results showed that perceived usefulness, perceived ease of use, and satisfaction level each scored 4 points or higher out of 7 points, showing usability of midhigh level. Camera angle control and robot driving functions were the most difficult. Other basic robot user interface was shown to be relatively easy. There was no difference in usability depending on the characteristics of the evaluator. Some functions including user interface were modified based on the usability test. Conclusion Using robots in health care institutions may support effective communication among healthcare providers, thus contributing to health care improvement.
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Kandathil, Jom J., Robins Mathew, and Somashekhar S. Hiremath. "Modified bug-1 algorithm based strategy for obstacle avoidance in multi robot system." MATEC Web of Conferences 144 (2018): 01012. http://dx.doi.org/10.1051/matecconf/201814401012.
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One of the primary ability of an intelligent mobile robot system is obstacle avoidance. BUG algorithms are classic examples of the algorithms used for achieving obstacle avoidance. Unlike many other planning algorithms based on global knowledge, BUG algorithms assume only local knowledge of the environment and a global goal. Among the variations of the BUG algorithms that prevail, BUG-0, BUG-1 and BUG-2 are the more prominent versions. The exhaustive search algorithm present in BUG-1 makes it more reliable and safer for practical applications. Overall, this provides a more predictable and dependable performance. Hence, the essential focus in this paper is on implementing the BUG-1 algorithm across a group of robots to move them from a start location to a target location. The results are compared with the results from BUG-1 algorithm implemented on a single robot. The strategy developed in this work reduces the time involved in moving the robots from starting location to the target location. Further, the paper shows that the total distance covered by each robot in a multi robot-system is always lesser than or equal to that travelled by a single robot executing the same problem.
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Yan, Changtao, Kan Shi, Haiqiang Zhang, and Yanan Yao. "Simulation and analysis of a single actuated quadruped robot." Mechanical Sciences 13, no. 1 (March 1, 2022): 137–46. http://dx.doi.org/10.5194/ms-13-137-2022.
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Abstract. In this paper, a leg structure of quadruped robot was designed, based on mechanism synthesis, and aims to allow a system for the complex control of a quadruped robot. This structure is composed of a crank linkage mechanism and quadrilateral mechanism. The innovativeness of this robot is that it can achieve a special gait driven only by single motor. In this research, we set up the kinematic model of leg mechanism through an analytic method. Then we draw the foot track of multiple groups of parameters and select the best parameter group by comparing multiple groups of parameters. After that, the robot model was built and analyzed for its walking ability and climbing ability with virtual prototype technology. Finally, we made an experimental prototype to trial the motion ability of the robot. Simulation and experimental analysis prove that the mechanism is reasonable, reliable and can meet the requirements of linear walking and climbing. The conclusions of this research will be useful for application in the field of single actuated quadruped robots.
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Shahzad, Muhammad Muzamal, Zubair Saeed, Asima Akhtar, Hammad Munawar, Muhammad Haroon Yousaf, Naveed Khan Baloach, and Fawad Hussain. "A Review of Swarm Robotics in a NutShell." Drones 7, no. 4 (April 14, 2023): 269. http://dx.doi.org/10.3390/drones7040269.
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A swarm of robots is the coordination of multiple robots that can perform a collective task and solve a problem more efficiently than a single robot. Over the last decade, this area of research has received significant interest from scientists due to its large field of applications in military or civil, including area exploration, target search and rescue, security and surveillance, agriculture, air defense, area coverage and real-time monitoring, providing wireless services, and delivery of goods. This research domain of collective behaviour draws inspiration from self-organizing systems in nature, such as honey bees, fish schools, social insects, bird flocks, and other social animals. By replicating the same set of interaction rules observed in these natural swarm systems, robot swarms can be created. The deployment of robot swarm or group of intelligent robots in a real-world scenario that can collectively perform a task or solve a problem is still a substantial research challenge. Swarm robots are differentiated from multi-agent robots by specific qualifying criteria, including the presence of at least three agents and the sharing of relative information such as altitude, position, and velocity among all agents. Each agent should be intelligent and follow the same set of interaction rules over the whole network. Also, the system’s stability should not be affected by leaving or disconnecting an agent from a swarm. This survey illustrates swarm systems’ basics and draws some projections from its history to its future. It discusses the important features of swarm robots, simulators, real-world applications, and future ideas.
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Lynch, John C., Jonathan S. Green, Paul K. Hovsepian, Kathleen L. Reilly, and Joseph A. Short. "The role of the automation development group in analytical research and development at Dupont Merck." Journal of Automatic Chemistry 16, no. 4 (1994): 131–33. http://dx.doi.org/10.1155/s1463924694000131.
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Laboratory robotics has been firmly established in many non-QC laboratories as a valuable tool for automating pharmaceutical dosage form analysis. Often a single project or product line is used to justify an initial robot purchase thus introducing robotics to the laboratory for the first time. However, to gain widespread acceptance within the laboratory and to justify further investment in robotics, existing robots must be used to develop analyses for existing manual methods as well as new projects beyond the scope off the original purchase justification. The Automation Development Group in Analytical Research and Development is a team of analysts primarily devoted to developing new methods and adapting existing methods for the robot. This team approach developed the expertise and synergy necessary to significantly expand the contribution of robotics to automation in the authors' laboratory.
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Darintsev, O. V., and A. B. Migranov. "Using an ant algorithm to find a strategy for the behavior of a group of mobile robots on a work field with obstacles." Multiphase Systems 17, no. 3-4 (2022): 177–86. http://dx.doi.org/10.21662/mfs2022.3.016.
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A more complex solution to the problem of the distribution of tasks in a group of mobile robots, in the presence of obstacles in the workspace, is considered. The work is a continuation of a cycle of research in which the basic algorithm for solving the tasks was one of the types of ant algorithm — the multicolonial ant system method in combination with the trajectory planning algorithm implemented using the principle of dynamic programming. The task statement, the workspace model, the goals of the robots functioning and the parameters characterizing their work have been adjusted. The choice of free parameters of the ant algorithm for performing multi-criteria optimization and tuning of the solution is carried out: the number of iterations, the number of intercolonial groups of ants, the weight of the concentration of the pheromone of arcs, the weight of the heuristic attractiveness of arcs and the pheromone evaporation coefficient. The results of computational experiments conducted in the presence of static (known in advance) and dynamic (other robots) obstacles in the workspace are presented. The proposed algorithm was tested using the example of a group consisting of three robots performing 10 tasks. As shown in the results of computational experiments, robot trajectories are built on a subset of free cells of the workspace and do not intersect cells with obstacles. At the same time, the configuration of the work field affects not only the actual routes of robots, but also the redistribution of tasks between them, and the number of robots involved. Additionally, a series of computational experiments with different combinations of values of free parameters was carried out to determine the optimal ratios and implement a more efficient ant algorithm. Optimization was carried out by a single adjustment method, which allowed us to find the required values of free parameters. It is shown that the adjustment of the parameters made it possible to reduce the relative error in the synthesis of the optimal route of movement of a group of robots by 3–6 %.
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Lin, Chun-Hui, Shyh-Hau Wang, and Cheng-Jian Lin. "Interval Type-2 Neural Fuzzy Controller-Based Navigation of Cooperative Load-Carrying Mobile Robots in Unknown Environments." Sensors 18, no. 12 (November 28, 2018): 4181. http://dx.doi.org/10.3390/s18124181.
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In this paper, a navigation method is proposed for cooperative load-carrying mobile robots. The behavior mode manager is used efficaciously in the navigation control method to switch between two behavior modes, wall-following mode (WFM) and goal-oriented mode (GOM), according to various environmental conditions. Additionally, an interval type-2 neural fuzzy controller based on dynamic group artificial bee colony (DGABC) is proposed in this paper. Reinforcement learning was used to develop the WFM adaptively. First, a single robot is trained to learn the WFM. Then, this control method is implemented for cooperative load-carrying mobile robots. In WFM learning, the proposed DGABC performs better than the original artificial bee colony algorithm and other improved algorithms. Furthermore, the results of cooperative load-carrying navigation control tests demonstrate that the proposed cooperative load-carrying method and the navigation method can enable the robots to carry the task item to the goal and complete the navigation mission efficiently.
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Fan, Tingxiang, Pinxin Long, Wenxi Liu, and Jia Pan. "Distributed multi-robot collision avoidance via deep reinforcement learning for navigation in complex scenarios." International Journal of Robotics Research 39, no. 7 (May 31, 2020): 856–92. http://dx.doi.org/10.1177/0278364920916531.
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Developing a safe and efficient collision-avoidance policy for multiple robots is challenging in the decentralized scenarios where each robot generates its paths with limited observation of other robots’ states and intentions. Prior distributed multi-robot collision-avoidance systems often require frequent inter-robot communication or agent-level features to plan a local collision-free action, which is not robust and computationally prohibitive. In addition, the performance of these methods is not comparable with their centralized counterparts in practice. In this article, we present a decentralized sensor-level collision-avoidance policy for multi-robot systems, which shows promising results in practical applications. In particular, our policy directly maps raw sensor measurements to an agent’s steering commands in terms of the movement velocity. As a first step toward reducing the performance gap between decentralized and centralized methods, we present a multi-scenario multi-stage training framework to learn an optimal policy. The policy is trained over a large number of robots in rich, complex environments simultaneously using a policy-gradient-based reinforcement-learning algorithm. The learning algorithm is also integrated into a hybrid control framework to further improve the policy’s robustness and effectiveness. We validate the learned sensor-level collision-3avoidance policy in a variety of simulated and real-world scenarios with thorough performance evaluations for large-scale multi-robot systems. The generalization of the learned policy is verified in a set of unseen scenarios including the navigation of a group of heterogeneous robots and a large-scale scenario with 100 robots. Although the policy is trained using simulation data only, we have successfully deployed it on physical robots with shapes and dynamics characteristics that are different from the simulated agents, in order to demonstrate the controller’s robustness against the simulation-to-real modeling error. Finally, we show that the collision-avoidance policy learned from multi-robot navigation tasks provides an excellent solution for safe and effective autonomous navigation for a single robot working in a dense real human crowd. Our learned policy enables a robot to make effective progress in a crowd without getting stuck. More importantly, the policy has been successfully deployed on different types of physical robot platforms without tedious parameter tuning. Videos are available at https://sites.google.com/view/hybridmrca .
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Hayes, Adam T., Alcherio Martinoli, and Rodney M. Goodman. "Swarm robotic odor localization: Off-line optimization and validation with real robots." Robotica 21, no. 4 (August 2003): 427–41. http://dx.doi.org/10.1017/s0263574703004946.
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This paper presents an investigation of odor localization by groups of autonomous mobile robots using principles of Swarm Intelligence. First, we describe a distributed algorithm by which groups of agents can solve the full odor localization task more efficiently than a single agent. Next, we demonstrate that a group of real robots under fully distributed control can successfully traverse a real odor plume, and that an embodied simulator can faithfully reproduce these real robots experiments. Finally, we use the embodied simulator combined with a reinforcement learning algorithm to optimize performance across group size, showing that it can be useful not only for improving real world odor localization, but also for quantitatively characterizing the influence of group size on task performance.
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Darintsev, O. V., and A. B. Migranov. "Using the Hopfield Neural Network to Select a Behaviour Strategy for the Group of Mobile Robots." Journal of Physics: Conference Series 2096, no. 1 (November 1, 2021): 012086. http://dx.doi.org/10.1088/1742-6596/2096/1/012086.
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Abstract The use of the Hopfield neural network for the task distribution problem solving in teams of mobile robots performing monosyllabic operations in a single workspace is considered. The study is a continuation of earlier works in which the same problem was solved by the authors using other heuristic algorithms – swarm and genetic. This article presents the problem statement and the model of the working space, distinguishes the goals of robotic operation. The quality indicator is the total distance traveled by each of the robots in the group. To enable the original problem to be solved using the Hopfield neural network, a graph representation of the Hopfield is made by switching from the VRP to the TSP problem. The results of computational experiments confirming the effectiveness of the chosen approach for choosing a strategy of behavior of a group of mobile robots are shown.
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Galin, R. R., V. V. Serebrennyj, G. K. Tevyashov, and A. A. Shiroky. "Human-robot Interaction in Collaborative Robotic Systems." Proceedings of the Southwest State University 24, no. 4 (February 4, 2021): 180–99. http://dx.doi.org/10.21869/2223-1560-2020-24-4-180-199.
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Purpose or research is to find solvable tasks for increasing the effectiveness of collaborative interaction between people and robots in ergatic robotic systems, or, in other words, in collaborative robotic systems. Methods. A comprehensive analysis of works published in highly rated peer-reviewed open-access scientific publications was carried out to achieve this goal. Main terms and concepts of collaborative robotics are described in § 1 and their current understanding in the research community is also described. The structure of workspaces in interaction zone of a person and robot is described. The criteria for assigning robot to the class of collaborative ones are also described. The criteria for safe interaction of a person and robot in a single workspace is described in § 2. Various grounds for classifying human-robot interactions in collaborative RTAs are described in § 3. Results. A significant part of published works about collaborative robotics is devoted to the organization of safe man and robot interaction. Less attention is paid to the effectiveness improvement of such interaction. An up-to-date task in the problem of efficiency improvement of collaborative robotic systems is the identification of tasks that have already been solved in other areas - in particular, in the field of organizational systems management. The possibility of using the term "team" for collaborative robots in a collaborative PTC is stated in § 4. A formal problem setting of optimal distribution in teamwork of collaborative robots, similar to the problem of heterogeneous team formation in the theory of organizational systems management is proposed in § 5. Conclusions. Proposed task setting of optimal distribution of works in collaborative robots’ team shows possibility of using results obtained in group of mathematical models of commands formation and functioning for control of collaborative robotic systems in order to increase efficiency of people and robots interaction. It is prospectively to continue the search for adapting models and governance mechanisms to the theory of organizational system management and integrated activities methodology.
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Baldassarre, Gianluca, Stefano Nolfi, and Domenico Parisi. "Evolving Mobile Robots Able to Display Collective Behaviors." Artificial Life 9, no. 3 (July 2003): 255–67. http://dx.doi.org/10.1162/106454603322392460.
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We present a set of experiments in which simulated robots are evolved for the ability to aggregate and move together toward a light target. By developing and using quantitative indexes that capture the structural properties of the emerged formations, we show that evolved individuals display interesting behavioral patterns in which groups of robots act as a single unit. Moreover, evolved groups of robots with identical controllers display primitive forms of situated specialization and play different behavioral functions within the group according to the circumstances. Overall, the results presented in the article demonstrate that evolutionary techniques, by exploiting the self-organizing behavioral properties that emerge from the interactions between the robots and between the robots and the environment, are a powerful method for synthesizing collective behavior.
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Ha, Yeongmi, and Mingyeong Park. "Effects of Stroke Rehabilitation Using Gait Robot-Assisted Training and Person-Centered Goal Setting: A Single Blinded Pilot Study." Healthcare 11, no. 4 (February 16, 2023): 588. http://dx.doi.org/10.3390/healthcare11040588.
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Many stroke survivors have difficulties due to the mobility and activities required in daily living. A walking impairment negatively affects the independent lifestyle of stroke patients, requiring intensive post-stroke rehabilitation. Therefore, the purpose of this study was to examine the effects of stroke rehabilitation using gait robot-assisted training and person-centered goal setting on mobility, the activities of daily living, stroke self-efficacy, and health-related QoL in stroke patients with hemiplegia. An assessor-blinded quasi-experimental study with a pre-posttest nonequivalent control group was used. Participants who were admitted to the hospital with a gait robot-assisted training system were assigned to the experimental group, and those without gait robots were assigned to the control group. Sixty stroke patients with hemiplegia from two hospitals specialized in post-stroke rehabilitation participated. Stroke rehabilitation using gait robot-assisted training and person-centered goal setting for stroke patients with hemiplegia was conducted for a total of six weeks. There were significant differences between the experimental group and control group in the Functional Ambulation Category (t = 2.89, p = 0.005), balance (t = 3.73, p < 0.001), Timed Up and Go (t = −2.27, p = 0.027), Korean Modified Barthel Index (t = 2.58, p = 0.012), 10 m Walking test (t = −2.27, p = 0.040), stroke self-efficacy (t = 2.23, p = 0.030), and health-related quality of life (t = 4.90, p < 0.001). A gait robot-assisted rehabilitation using goal setting for stroke patients with hemiplegia improved gait ability, balance ability, stroke self-efficacy, and health-related quality of life in stroke patients.
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Vantsov, S. V., V. A. Sokolov, and O. V. Khomutskaya. "Comprehensive control system for industrial robots." NAUCHNOE PRIBOROSTROENIE 31, no. 1 (February 19, 2021): 96–106. http://dx.doi.org/10.18358/np-31-1-i96106.
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The article considers the control system for industrial robots (IR), including precision robots (РIR), representing the integration of systems of different levels of the control hierarchy into a single (integrated) system. There are the analyzes of the structural diagram and the original mathematical formulation of the control task and, accordingly, the principles of constructing algorithms for the functioning of such systems as a whole are given. It is shown that the expansion of the range of manufactured products requires continuous improvement of technological equipment, including both "mechanics" and the entire complex of control devices: electrics, electronics, pneumatics, hydraulics, optics and their possible various "complexes" (combinations). The presented hierarchical control systems can be used not only for stationary and mobile ground-based robotic systems, but also for controlling the movement of single and group UAVs, since in both cases it is necessary to move the IR unit in space to fulfill the assigned task.
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Yousuf, Bilal M. "Robust Output-Feedback Formation Control Design for Nonholonomic Mobile Robot (NMRs)." Robotica 37, no. 6 (January 31, 2019): 1033–56. http://dx.doi.org/10.1017/s026357471800142x.
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SummaryThis paper addresses the systematic approach to design formation control for kinematic model of unicycle-type nonholonomic mobile robots. These robots are difficult to stabilize and control due to their nonintegrable constraints. The difficulty of control increases when there is a requirement to control a cluster of nonholonomic mobile robots in specific formation. In this paper, the design of the control scheme is presented in a three-step process. First, a robust state-feedback point-to-point stabilization control is designed using sliding mode control. In the second step, the controller is modified so as to address the tracking problem for time-varying reference trajectories. The proposed control scheme is shown to provide the desired robustness properties in the presence of the parameter variation, in the region of interest. Finally, in third step, tracking problem of a single nonholonomic mobile robot extends to formation control for a group of mobile robots in the leader–follower scenario using integral terminal- based sliding mode control augmented with stabilizing control. Starting with the transformation of the mathematical model of robots, the proposed controller ensures that the robots maintain a constant distance between each other to avoid collision. The main problem with the proposed controller is that it requires all states specially velocities. Therefore, the state-feedback control scheme is then extended to output feedback by incorporating a highgain observer. With the help of Lyapunov analysis and appropriate simulations, it is shown that the proposed output-feedback control scheme achieves the required control objectives. Furthermore, the closed loop system trajectories reach to desired equilibrium point in finite time while maintaining the special pattern.
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Zhang, Yuli, Xiaoping Ma, and Yanzi Miao. "Multiple Chemical Sources Localization Using Virtual Physics-Based Robots with Release Strategy." Mathematical Problems in Engineering 2015 (2015): 1–16. http://dx.doi.org/10.1155/2015/678451.
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This paper presents a novel method of simultaneously locating chemical sources by a virtual physics-based multirobot system with a release strategy. The proposed release strategy includes setting forbidden area, releasing the robots from declared sources and escaping from it by a rotary force and goal force. This strategy can avoid the robots relocating the same source which has been located by other robots and leading them to move toward other sources. Various turbulent plume environments are simulated by Fluent and Gambit software, and a set of simulations are performed on different scenarios using a group of six robots or parallel search by multiple groups’ robots to validate the proposed methodology. The experimental results show that release strategy can be successfully used to find multiple chemical sources, even when multiple plumes overlap. It can also extend the operation of many chemical source localization algorithms developed for single source localization.
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Gaiduk, Anatoly, Sergey Kapustyan, Vladimir Plaksienko, and Ali El A. Kabalan. "Control of the UAV group at uncertain delays in communication channels." Science Bulletin of the Novosibirsk State Technical University, no. 2-3 (November 13, 2020): 37–56. http://dx.doi.org/10.17212/1814-1196-2020-2-3-37-56.
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The UAV groups and other unmanned robots are more and more widely used to solve production and special problems in view of their bigger efficiency in comparison with single robots. The efficiency of a group in many respects is defined by the opportunities of the communications means between members of the group and its leader, which influences the efficiency of the decisions made. The control of the UAV group is often exercised by a multivariable control system whose algorithms are implemented by a computer complex of the group UAV leader. The problem here is that in individual channels of information exchanges between the UAV-leader and other UAVs of the group there is a time delay. Any space distributions of the UAV in the neighborhood of the leader cause significantly different, uncertain delays in channels of its contact with the UAV group that can lead to a loss of control stability. It is proposed to apply a multivariable, robust to delay control system to overcome this difficulty. The design of this system is carried out on the basis of the matrix decoupling control and the method of an analytical design of systems with control on output and impact (ADSCOI) taking into account conditions of feasibility of controls on digital computing elements. Analytical expressions including the solution to the linear system algebraic equations and the creation procedure of the digital control algorithms are found in the article. This control provides robustness of the system to delays in communication channels. The efficiency of the proposed approach is illustrated by a numerical design example of the multivariable group control system of the UAV. The results obtained can be applied to create digital control systems by both single input-single-output and multi-input-multi-output objects with an uncertain delay in agricultural, food, power, machine-building and other industries.
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Feng, Jingkai, and Jinguo Liu. "Configuration Enumeration of Multi-Limb Reconfigurable Modular Robots." Journal of Physics: Conference Series 2402, no. 1 (December 1, 2022): 012032. http://dx.doi.org/10.1088/1742-6596/2402/1/012032.
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Abstract By introducing modular and reconfigurable designs, the Multi-limb Reconfigurable Modular Robots (MLRMR) have many different configurations instead of a single fixed configuration, which greatly expands the boundaries of the operation. However, the number of non-isomorphic configurations increases exponentially with the number of modules, making it necessary to explore the enumeration method theoretically. Based on the group theory, the permutation groups of the Multi-limb (including three-limb, four-limb, and five-limb) Reconfigurable Modular Robots are established in this paper, and the theoretical formulas of configuration enumeration are derived by applying the Pólya enumeration theorem. This work can be used as the basis of configuration analysis.
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Abbas, Rawad, Fadi Al Saiegh, Kareem El Naamani, Ching-Jen Chen, Lohit Velagapudi, Georgios S. Sioutas, Joshua H. Weinberg, et al. "Robot-assisted carotid artery stenting: outcomes, safety, and operational learning curve." Neurosurgical Focus 52, no. 1 (January 2022): E17. http://dx.doi.org/10.3171/2021.10.focus21504.
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OBJECTIVE Over the past 2 decades, robots have been increasingly used in surgeries to help overcome human limitations and perform precise and accurate tasks. Endovascular robots were pioneered in interventional cardiology, however, the CorPath GRX was recently approved by the FDA for peripheral vascular and extracranial interventions. The authors aimed to evaluate the operational learning curve for robot-assisted carotid artery stenting over a period of 19 months at a single institution. METHODS A retrospective analysis of a prospectively maintained database was conducted, and 14 consecutive patients who underwent robot-assisted carotid artery stenting from December 2019 to June 2021 were identified. The metrics for proficiency were the total fluoroscopy and procedure times, contrast volume used, and radiation dose. To evaluate operator progress, the patients were divided into 3 groups of 5, 4, and 5 patients based on the study period. RESULTS A total of 14 patients were included. All patients received balloon angioplasty and stent placement. The median degree of stenosis was 95%. Ten patients (71%) were treated via the transradial approach and 4 patients (29%) via the transfemoral approach, with no procedural complications. The median contrast volume used was 80 mL, and the median radiation dose was 38,978.5 mGy/cm2. The overall median fluoroscopy and procedure times were 24.6 minutes and 70.5 minutes, respectively. Subgroup analysis showed a significant decrease in these times, from 32 minutes and 86 minutes, respectively, in group 1 to 21.9 minutes and 62 minutes, respectively, in group 3 (p = 0.002 and p = 0.008, respectively). CONCLUSIONS Robot-assisted carotid artery stenting was found to be safe and effective, and the learning curve for robotic procedures was overcome within a short period of time at a high-volume cerebrovascular center.
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Smakman, Matthijs H. J., Elly A. Konijn, Paul Vogt, and Paulina Pankowska. "Attitudes towards Social Robots in Education: Enthusiast, Practical, Troubled, Sceptic, and Mindfully Positive." Robotics 10, no. 1 (January 26, 2021): 24. http://dx.doi.org/10.3390/robotics10010024.
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While social robots bring new opportunities for education, they also come with moral challenges. Therefore, there is a need for moral guidelines for the responsible implementation of these robots. When developing such guidelines, it is important to include different stakeholder perspectives. Existing (qualitative) studies regarding these perspectives however mainly focus on single stakeholders. In this exploratory study, we examine and compare the attitudes of multiple stakeholders on the use of social robots in primary education, using a novel questionnaire that covers various aspects of moral issues mentioned in earlier studies. Furthermore, we also group the stakeholders based on similarities in attitudes and examine which socio-demographic characteristics influence these attitude types. Based on the results, we identify five distinct attitude profiles and show that the probability of belonging to a specific profile is affected by such characteristics as stakeholder type, age, education and income. Our results also indicate that social robots have the potential to be implemented in education in a morally responsible way that takes into account the attitudes of various stakeholders, although there are multiple moral issues that need to be addressed first. Finally, we present seven (practical) implications for a responsible application of social robots in education following from our results. These implications provide valuable insights into how social robots should be implemented.
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Rone, William, and Pinhas Ben-Tzvi. "Mapping, localization and motion planning in mobile multi-robotic systems." Robotica 31, no. 1 (February 9, 2012): 1–23. http://dx.doi.org/10.1017/s0263574712000021.
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SUMMARYAs researchers have pushed the limits of what can be accomplished by a single robot operating in a known or unknown environment, a greater emphasis has been placed on the utilization of mobile multi-robotic systems to accomplish various objectives. In transitioning from a robot-centric approach to a system-centric approach, considerations must be made for the computational and communicative aspects of the group as a whole, in addition to electromechanical considerations of individual robots. This paper reviews the state-of-the-art of mobile multi-robotic system research, with an emphasis on the confluence of mapping, localization and motion control of robotic system. Methods that compose these three topics are presented, including areas of overlap, such as integrated exploration and simultaneous localization and mapping. From these methods, an analysis of benefits, challenges and tradeoffs associated with multi-robotic system design and use are presented. Finally, specific applications of multi-robotic systems are also addressed in various contexts.
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Fierro, Rafael, Aveek Das, John Spletzer, Joel Esposito, Vijay Kumar, James P. Ostrowski, George Pappas, et al. "A Framework and Architecture for Multi-Robot Coordination." International Journal of Robotics Research 21, no. 10-11 (October 2002): 977–95. http://dx.doi.org/10.1177/0278364902021010981.
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In this paper, we present a framework and the software architecture for the deployment of multiple autonomous robots in an unstructured and unknown environment, with applications ranging from scouting and reconnaissance, to search and rescue, to manipulation tasks, to cooperative localization and mapping, and formation control. Our software framework allows a modular and hierarchical approach to programming deliberative and reactive behaviors in autonomous operation. Formal definitions for sequential composition, hierarchical composition, and parallel composition allow the bottom-up development of complex software systems. We demonstrate the algorithms and software on an experimental testbed that involves a group of carlike robots, each using a single omnidirectional camera as a sensor without explicit use of odometry.
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Zeng, Xiangfeng, Guoli Zhu, Mingming Zhang, and Sheng Q. Xie. "Reviewing Clinical Effectiveness of Active Training Strategies of Platform-Based Ankle Rehabilitation Robots." Journal of Healthcare Engineering 2018 (2018): 1–12. http://dx.doi.org/10.1155/2018/2858294.
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Objective. This review aims to provide a systematical investigation of clinical effectiveness of active training strategies applied in platform-based ankle robots. Method. English-language studies published from Jan 1980 to Aug 2017 were searched from four databases using key words of “Ankle∗” AND “Robot∗” AND “Effect∗ OR Improv∗ OR Increas∗.” Following an initial screening, three rounds of discrimination were successively conducted based on the title, the abstract, and the full paper. Result. A total of 21 studies were selected with 311 patients involved; of them, 13 studies applied a single group while another eight studies used different groups for comparison to verify the therapeutic effect. Virtual-reality (VR) game training was applied in 19 studies, while two studies used proprioceptive neuromuscular facilitation (PNF) training. Conclusion. Active training techniques delivered by platform ankle rehabilitation robots have been demonstrated with great potential for clinical applications. Training strategies are mostly combined with one another by considering rehabilitation schemes and motion ability of ankle joints. VR game environment has been commonly used with active ankle training. Bioelectrical signals integrated with VR game training can implement intelligent identification of movement intention and assessment. These further provide the foundation for advanced interactive training strategies that can lead to enhanced training safety and confidence for patients and better treatment efficacy.
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Ullah, Sehat, Paul Richard, Samir Otmane, Mickael Naud, and Malik Mallem. "Human Performance in Cooperative Virtual Environments: the Effect of Visual Aids and Oral Communication." International Journal of Virtual Reality 8, no. 4 (January 1, 2009): 79–86. http://dx.doi.org/10.20870/ijvr.2009.8.4.2752.
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The Cooperative virtual environments, where users simultaneously manipulate objects, are one of the subfields of Collaborative virtual environments (CVEs). In this paper we simulate the use of two string based parallel robots in cooperative teleoperation task. Two users setting on separate machines connected through local network operate each robot. In this context, we investigate the effects of visual aids and oral communication on cooperation, co-presence and users performance. Ten volunteers had to cooperatively perform a peg-in-hole task. A second group of ten subjects perform the same task in a single user setup. The objective of the two experiments is twofold, firstly to compare the task's complexity of single user setup with that of the cooperative environment. Secondly we examine the influence of visual aids and oral communication on user's performance in the two different setups. Results revealed that shadow has a significant effect on task execution while arrows and oral communication not only increase users' performance but also enhance the sense of co-presence and awareness. We also observed that cooperative manipulation was more difficult as compared to single user manipulation.
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Antić, Dinka. "Electronic Taxable Person – The Last Stage of Evolution of Taxpayer’s Personality? // Elektronska oporeziva osoba – posljednja etapa evolucije personalnosti poreskog obveznika?" Годишњак факултета правних наука - АПЕИРОН 9, no. 9 (October 14, 2019): 176. http://dx.doi.org/10.7251/gfp1909176a.
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A taxpayer is a person who is required by law to pay the tax. Historically, a taxpayer has been a physical entity since the appearance of tax, before the new era, by the end of 19th century, when the appearance of corporations led to the spread of the term of taxpayer to legal entities. The development of modern concepts of taxation resulted in the acceptance of a group of personally connected individuals with the taxpayer of income tax, and later groups of legal entities with a single taxpayer of VAT and income tax. The development of digitization, telecommunications and robotics has recently stirred up a debate on a new category of taxpayers – robots and a new concept of electronic tax capacity. The essence of the idea is the standpoint of the tax neutrality, that is, the equal tax treatment of work, regardless of whether the work is performed by a man or a robot. The new work taxation concept should, on the one hand, eliminate the current tax discrimination of labor-intensive companies in relation to automated companies, and, on the other hand, replace the lost revenues from taxation of man’s work. Acceptance of the concept of electronic tax capacity and personalization of robots for tax purposes basically results in a thorough redefinition of the basic postulates of taxation theory.
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Hentout, Abdelfetah, Abderraouf Maoudj, Nesrine Kaid-youcef, Djamila Hebib, and Brahim Bouzouia. "Distributed Multi-agent Bidding-Based Approach for the Collaborative Mapping of Unknown Indoor Environments by a Homogeneous Mobile Robot Team." Journal of Intelligent Systems 29, no. 1 (December 6, 2017): 84–99. http://dx.doi.org/10.1515/jisys-2017-0255.
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Abstract This paper deals with the problem of the collaborative mapping of unknown indoor environments by a homogeneous mobile robot team. For this aim, a distributed multi-agent coordination approach is proposed for the mapping process to offer a global view of the entire environment. First, the scheme starts by assigning the most suitable robots to the different zones of the environment to be mapped based on a bidding strategy. Then, while a Robot agent of the group explores its local surroundings and collects information about its neighborhood, it sends mapping data to the Human/Machine Interface agent to integrate them into a single global map. Furthermore, a geometric map representation and an algorithm based on obstacles and environment limits detection are used to provide an explicitly geometric representation of the workspace. For validation purposes, Player/Stage simulator is used to show the effectiveness of the proposed distributed approach and algorithms without needing a real multi-robot system and environment. Finally, various scenarios have been carried out and results are compared in terms of (i) required mapping time, (ii) accuracy of the global generated map, and (iii) number of exchanged messages between the agents.
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Hu, Xiao Ling, Kai-yu Tong, Rong Song, Xiu Juan Zheng, and Wallace W. F. Leung. "A Comparison Between Electromyography-Driven Robot and Passive Motion Device on Wrist Rehabilitation for Chronic Stroke." Neurorehabilitation and Neural Repair 23, no. 8 (June 16, 2009): 837–46. http://dx.doi.org/10.1177/1545968309338191.
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Background. The effect of using robots to improve motor recovery has received increased attention, even though the most effective protocol remains a topic of study. Objective . The objective was to compare the training effects of treatments on the wrist joint of subjects with chronic stroke with an interactive rehabilitation robot and a robot with continuous passive motion. Methods. This study was a single-blinded randomized controlled trial with a 3-month follow-up. Twenty-seven hemiplegic subjects with chronic stroke were randomly assigned to receive 20-session wrist training with a continuous electromyography (EMG)-driven robot (interactive group, n = 15) and a passive motion device (passive group, n = 12), completed within 7 consecutive weeks. Training effects were evaluated with clinical scores by pretraining and posttraining tests (Fugl-Meyer Assessment [FMA] and Modified Ashworth Score [MAS]) and with session-by-session EMG parameters (EMG activation level and co-contraction index). Results. Significant improvements in FMA scores (shoulder/elbow and wrist/hand) were found in the interactive group ( P < .05). Significant decreases in the MAS were observed in the wrist and elbow joints for the interactive group and in the wrist joint for the passive group ( P < .05). These MAS changes were associated with the decrease in EMG activation level of the flexor carpi radialis and the biceps brachii for the interactive group ( P < .05). The muscle coordination on wrist and elbow joints was improved in the interactive groups in the EMG co-contraction indexes across the training sessions ( P < .05). Conclusions. The interactive treatment improved muscle coordination and reduced spasticity after the training for both the wrist and elbow joints, which persisted for 3 months. The passive mode training mainly reduced the spasticity in the wrist flexor.
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Lee, Meng-Tse, Bo-Yu Chen, and Ying-Chih Lai. "A Hybrid Tabu Search and 2-opt Path Programming for Mission Route Planning of Multiple Robots under Range Limitations." Electronics 9, no. 3 (March 24, 2020): 534. http://dx.doi.org/10.3390/electronics9030534.
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The application of an unmanned vehicle system allows for accelerating the performance of various tasks. Due to limited capacities, such as battery power, it is almost impossible for a single unmanned vehicle to complete a large-scale mission area. An unmanned vehicle swarm has the potential to distribute tasks and coordinate the operations of many robots/drones with very little operator intervention. Therefore, multiple unmanned vehicles are required to execute a set of well-planned mission routes, in order to minimize time and energy consumption. A two-phase heuristic algorithm was used to pursue this goal. In the first phase, a tabu search and the 2-opt node exchange method were used to generate a single optimal path for all target nodes; the solution was then split into multiple clusters according to vehicle numbers as an initial solution for each. In the second phase, a tabu algorithm combined with a 2-opt path exchange was used to further improve the in-route and cross-route solutions for each route. This diversification strategy allowed for approaching the global optimal solution, rather than a regional one with less CPU time. After these algorithms were coded, a group of three robot cars was used to validate this hybrid path programming algorithm.
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Kano, Takeshi, and Yuichiro Sueoka. "Special Issue on Design of Swarm Intelligence Through Interdisciplinary Approach." Journal of Robotics and Mechatronics 35, no. 4 (August 20, 2023): 889. http://dx.doi.org/10.20965/jrm.2023.p0889.
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In biological and social systems, a “swarm” refers to a group of individual units that behave as a single intelligent entity. “Swarm behavior,” the collective result of the local interactions among the group members, exhibits what is called “swarm intelligence.” By identifying the design principles of such swarm intelligence, we may be able to create swarm robots that are highly adaptable, fault tolerant, and dimensionally flexible. An interdisciplinary approach, including disciplines ranging from technology to biology to the mathematical sciences, for example, is used to elucidate the design principles of swarm intelligence. We believe that such knowledge will lead to transformations in the field of swarm robotics. This special issue highlights 19 exciting papers, including 13 research papers, five review papers, and one letter. Some papers focus on understanding the mechanism of real swarm phenomena, while the other papers focus on designing intelligent swarm systems. The keywords of the papers are as follows. • Swarm intelligence • Interdisciplinary approach • Decentralized control • Swarm robot • Collective behavior We would like to express our gratitude to all authors and reviewers, and we hope that this special issue contributes to future research and development in swarm intelligence.
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Scypinski, Stephen, Linda Nelson, and Theodore Sadlowski. "Automation in the pharmaceutical analysis laboratory: a centralized/decentralized approach." Journal of Automatic Chemistry 17, no. 2 (1995): 47–49. http://dx.doi.org/10.1155/s1463924695000071.
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It has been over 10 years since robots have appeared in the pharmaceutical analysis laboratory. In the early days, it was common for one selected individual to be responsible for the programming, usage and maintenance of the robots(s). However, the increasing use of robotics has prompted the formation of robotics ‘laboratories’ and/or ‘groups’. This is especially true when multiple robotic systems and applications are involved.Over the past several years at ISLAR, many champions of robotics have given presentations on the setup and usage of robotics within their organizations. These managers have described both the ‘centralized’ and ‘decentralized’ approaches to the implementation of robotics. In the centralized system, a single group is charged with all aspects of the robotic project, including justification, purchase, validation, use and maintenance. Under such an arrangement, samples are usually given to the robotics group for analysis. In contrast, a totally decentralized approach to robotics would have units interspersed throughout the organization, with each individual group responsible for their respective unit(s), in much the same way as liquid chromatographs are considered.At Hoffmann-La Roche, aspects of both the centralized and decentralized approaches to robotics are used which make our combined system the ‘best of both worlds’. This paper describes the Roche philosophy towards robotics and highlights the advantages to the system used.
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Mahmoudi, Aysan, Mauricio Molinari, Henriette Van Der Roest, and Manuel Franco. "506 - Methodologies used to study the feasibility, usability and effectiveness of social robots in clinical and social care settings for elderly adults." International Psychogeriatrics 33, S1 (October 2021): 59. http://dx.doi.org/10.1017/s1041610221002015.
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Background:In a search for innovative dementia care strategies, a new research fields have been dedicated to design social robots for older adults with cognitive impairments and dementia in order to promote their quality of life through communication and social interactions. Although the results are promising, the quality of studies on effectiveness of social robots in elderly adults is still low due to several methodological limitations (1). Then, we aim to review the methodologies used so far for conducting studies with social robots in clinical and social settings with people with dementia and elderly adults.Method:Searches in Medline (PubMed), Web of Science, PsycInfo, and Cinahl yielded 33 studies included in the final review after applying inclusion and exclusion criteria. Reviews were conducted by two authors independently.Result:Across 33 papers, 23 different social robots were examined on elderly adults and PwD, investigating feasibility, usability and effectiveness. A variety of study designs such as RCTs, mixed methods, cross-sectional and cohort were employed. Individual and group-based interventions took place in private households, LTCFs and labs within a single session or multiple sessions. Data were collected through observation, questionnaires, interview and physiological tests. Most revealed improvements were found in mood, engagement and participation. However, improvements in QoL, depression and cognition were not significant.Conclusion:Despite the promising results, due to the insufficient methodology, failures and ambitious findings remain within the many aspects of the enquiry. Appropriate RCT designs with large sample sizes and individual intervention sessions might be established for effectiveness studies. For feasibility/usability studies, a cohort design with long-term intervention would serve best. We also recommend a mixed method of data collection for any of three effectiveness, feasibility and usability study aims. Multiple interaction sessions running for more than one month might help researches to draw significant results and reveal the long-term impact of the robots.
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Masehian, Ellips, and Mitra Royan. "Characteristics of and Approaches to Flocking in Swarm Robotics." Applied Mechanics and Materials 841 (June 2016): 240–49. http://dx.doi.org/10.4028/www.scientific.net/amm.841.240.
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One of the basic collective behaviors of swarm robotic systems is flocking, which has been actively studied for more than a decade and mimics a natural phenomenon where a group of animals move together as a single entity. In flocking, each robot in the flock tries to adjust its velocity and align with other robots in the flock while maintaining a predetermined pattern (formation) and avoiding collisions with obstacle and other members of the flock. This paper presents an up-to-date review on the characteristics of flocking problems and tasks, as well as solution approaches to flocking problems. We have addressed flock characteristics from the formation type, robustness, leader-follower, information, and communication aspects. Also, various flocking tasks of exploration, motion planning and navigation, shepherding, covering, object transportation, and simultaneous object collection and shepherding are investigated. Also, a new categorization of approaches to flocking is presented, which contains Leader-Follower, Behavior-based, Control-based, Fault-Tolerant, and Hybrid approaches. Finally, a comparative table on the characteristics of flocking problems appeared in various works of the literature is presented.