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Bibliografie tematiche / Mobile robots

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Letteratura scientifica selezionata sul tema "Mobile robots"

Autore: Grafiati

Pubblicato: 4 giugno 2021

Ultima modifica: 29 luglio 2024

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Articoli di riviste sul tema "Mobile robots"

1

Yu, Zhong Hai. "Generic Technology of Home Service Robot". Applied Mechanics and Materials 121-126 (ottobre 2011): 3330–34. http://dx.doi.org/10.4028/www.scientific.net/amm.121-126.3330.

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The paper briefly looks back on current research situation of home service robots. It takes a home nursing robot as example to study and discuss some key generic technologies of home service robots. It generally overviewed robot’s mobile platform technology, modular design, reconfigurable robot technique, motion control, sensor technologies, indoor robot’s navigation and localization technology indoor, intelligentization, and robot’s technology standardization. Some the measures of technology standardization of home service robots have been put forward. It has realistic signification for industrialization of home service robots.

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2

Ma, Xi Pei, Bing Feng Qian, Song Jie Zhang e Ye Wang. "Research on Technology and Application of Multi-Sensor Data Fusion for Indoor Service Robots". Applied Mechanics and Materials 651-653 (settembre 2014): 831–34. http://dx.doi.org/10.4028/www.scientific.net/amm.651-653.831.

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The autonomous navigation process of a mobile service robot is usually in uncertain environment. The information only given by sensors has been unable to meet the demand of the modern mobile robots, so multi-sensor data fusion has been widely used in the field of robots. The platform of this project is the achievement of the important 863 Program national research project-a prototype nursing robot. The aim is to study a mobile service robot’s multi-sensor information fusion, path planning and movement control method. It can provide a basis and practical use’s reference for the study of an indoor robot’s localization.

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3

Akai, Naoki, Yasunari Kakigi, Shogo Yoneyama e Koichi Ozaki. "Development of Autonomous Mobile Robot that Can Navigate in Rainy Situations". Journal of Robotics and Mechatronics 28, n. 4 (19 agosto 2016): 441–50. http://dx.doi.org/10.20965/jrm.2016.p0441.

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[abstFig src='/00280004/02.jpg' width='300' text='Navigation under strong rainy condition' ] The Real World Robot Challenge (RWRC), a technical challenge for mobile outdoor robots, has robots automatically navigate a predetermined path over 1 km with the objective of detecting specific persons. RWRC 2015 was conducted in the rain and every robot could not complete the mission. This was because sensors on the robots detected raindrops and the robots then generated unexpected behavior, indicating the need to study the influence of rain on mobile navigation systems – a study clearly not yet sufficient. We begin by describing our robot’s waterproofing function, followed by investigating the influence of rain on the external sensors commonly used in mobile robot navigation and discuss how the robot navigates autonomous in the rain. We conducted navigation experiments in artificial and actual rainy environments and those results showed that the robot navigates stably in the rain.

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4

Huong, Tran Thi, e Pham Thi Thu Ha. "Controlling mobile robot in flat environment taking into account nonlinear factors applying artificial intelligence". Bulletin of Electrical Engineering and Informatics 13, n. 5 (1 ottobre 2024): 3737–45. http://dx.doi.org/10.11591/eei.v13i5.7818.

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The article shows how to build and identify intelligent automatic control problems for mobile robots in a flat surface environment at the workplace, with known and unknown obstacles. Research and develop programming and control methods as an operating system for mobile robots robot operating system (ROS). Update map data information, in the operating environment, robot position control process, obstacle overcoming process simultaneous positioning and mapping (SLAM). From there, we aim to calculate and determine the robot's motion trajectory to get a smart path. The positioning trajectory calculation system robots. The authors use actor-critic (AC) algorithm to research and develop control. Research results in simulations, in Gazebo environment and test runs on real mobile robots have shown high-quality practical performance of automatic navigation and control while using this algorithm.

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5

Yeom, Kiwon. "Collision Avoidance for a Car-like Mobile Robots using Deep Reinforcement Learning". International Journal of Emerging Technology and Advanced Engineering 11, n. 11 (13 novembre 2021): 22–30. http://dx.doi.org/10.46338/ijetae1121_03.

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—The applications of mobile robots are more and more diverse and extensive. The motion planning of the mobile robots should be considered in aspect of effectiveness of the navigation, and collision-free motion is essential for mobile robots. In addition, dynamic path planning of unknown environment has always been a challenge for mobile robots. Aiming at navigation problems, this paper proposes a Deep Reinforcement Learning (DRL) based path planning algorithm which can navigate nonholonomic car-like mobile robots in an unknown dynamic environment. The output of the learned network are the robot’s translational and angular velocities for the next time step. The method combines path planning on a 2D grid with reinforcement learning and does not need any supervision. The experiments illustrate that our trained policy can be applied to solve complex navigation tasks. Furthermore, we compare the performance of our learned controller to the popular approaches. Keywords— Deep reinforcement learning, path planning, , artificial neural network, mobile robot, autonomous vehicle

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Tsubouchi, Takashi. "Introduction to Simultaneous Localization and Mapping". Journal of Robotics and Mechatronics 31, n. 3 (20 giugno 2019): 367–74. http://dx.doi.org/10.20965/jrm.2019.p0367.

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Simultaneous localization and mapping (SLAM) forms the core of the technology that supports mobile robots. With SLAM, when a robot is moving in an actual environment, real world information is imported to a computer on the robot via a sensor, and robot’s physical location and a map of its surrounding environment of the robot are created. SLAM is a major topic in mobile robot research. Although the information, supported by a mathematical description, is derived from a space in reality, it is formulated based on a probability theory when being handled. Therefore, this concept contributes not only to the research and development concerning mobile robots, but also to the training of mathematics and computer implementation, aimed mainly at position estimation and map creation for the mobile robots. This article focuses on the SLAM technology, including a brief overview of its history, insights from the author, and, finally, introduction of a specific example that the author was involved.

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Uchiyama, Naoki, Shigenori Sano e Akihiro Yamamoto. "Sound source tracking considering obstacle avoidance for a mobile robot". Robotica 28, n. 7 (18 gennaio 2010): 1057–64. http://dx.doi.org/10.1017/s0263574709990919.

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SUMMARYSound source tracking is an important function for autonomous robots, because sound is omni-directional and can be recognized in dark environment. This paper presents a new approach to sound source tracking for mobile robots using auditory sensors. We consider a general type of two-wheeled mobile robot that has wide industrial applications. Because obstacle avoidance is also an indispensable function for autonomous mobile robots, the robot is equipped with distance sensors to detect obstacles in real time. To deal with the robot's nonholonomic constraint and combine information from the auditory and distance sensors, we propose a model reference control approach in which the robot follows a desired trajectory generated by a reference model. The effectiveness of the proposed method is confirmed by experiments in which the robot is expected to approach a sound source while avoiding obstacles.

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Cen, Hua, e Bhupesh Kumar Singh. "Nonholonomic Wheeled Mobile Robot Trajectory Tracking Control Based on Improved Sliding Mode Variable Structure". Wireless Communications and Mobile Computing 2021 (17 giugno 2021): 1–9. http://dx.doi.org/10.1155/2021/2974839.

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Several research studies are conducted based on the control of wheeled mobile robots. Nonholonomy constraints associated with wheeled mobile robots have encouraged the development of highly nonlinear control techniques. Nonholonomic wheeled mobile robot systems might be exposed to numerous payloads as per the application requirements. This can affect statically or dynamically the complete system mass, inertia, the location of the center of mass, and additional hardware constraints. Due to the nonholonomic and motion limited properties of wheeled mobile robots, the precision of trajectory tracking control is poor. The nonholonomic wheeled mobile robot tracking system is therefore being explored. The kinematic model and sliding mode control model are analyzed, and the trajectory tracking control of the robot is carried out using an enhanced variable structure based on sliding mode. The shear and sliding mode controls are designed, and the control stability is reviewed to control the trajectory of a nonholonomic wheeled mobile robot. The simulation outcomes show that the projected trajectory track control technique is able to improve the mobile robot’s control, the error of a pose is small, and the linear velocity and angular speed can be controlled. Take the linear and angular velocity as the predicted trajectory.

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Sasaki, Tohru, Takayuki Ushimaru, Takahiro Yamatani, Yusuke Ikemoto e Haruki Obara. "Pivot Turning Measurement of Relative Position and Posture for Moving Robots System Using Stereo-Camera". Key Engineering Materials 523-524 (novembre 2012): 895–900. http://dx.doi.org/10.4028/www.scientific.net/kem.523-524.895.

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The stereo-camera method is used to measure the positions of robots. In taking the measurements it is important to precisely measure the distance between cameras and the relative posture of the cameras. Therefore, we developed a novel method for measuring a mobile robot's relative position and posture by photographing robots’ pivot turns. A mobile robot system was equipped with a camera and an identification marker that made it possible to measure position and posture with the stereo-camera method when the viewpoint changed freely. One robot photographs the pivot turns of another. As the latter turns, an identification marker on it is used to trace the movement onto an image. The turning robot’s position and posture is determined by the length and angle of the trace. This procedure makes it possible for each of the two robots to obtain their relative position and posture, making the measurement of the stereo-camera method precise. Measuring with a fixed stereo camera is impossible when there are obstacles in the environment and the object being measured moves over a wide range. However, this robot system was able to use the stereo-camera method to expand the measurement range.

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Fox, D., W. Burgard e S. Thrun. "Markov Localization for Mobile Robots in Dynamic Environments". Journal of Artificial Intelligence Research 11 (23 novembre 1999): 391–427. http://dx.doi.org/10.1613/jair.616.

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Localization, that is the estimation of a robot's location from sensor data, is a fundamental problem in mobile robotics. This papers presents a version of Markov localization which provides accurate position estimates and which is tailored towards dynamic environments. The key idea of Markov localization is to maintain a probability density over the space of all locations of a robot in its environment. Our approach represents this space metrically, using a fine-grained grid to approximate densities. It is able to globally localize the robot from scratch and to recover from localization failures. It is robust to approximate models of the environment (such as occupancy grid maps) and noisy sensors (such as ultrasound sensors). Our approach also includes a filtering technique which allows a mobile robot to reliably estimate its position even in densely populated environments in which crowds of people block the robot's sensors for extended periods of time. The method described here has been implemented and tested in several real-world applications of mobile robots, including the deployments of two mobile robots as interactive museum tour-guides.

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Tesi sul tema "Mobile robots"

1

Iagnemma, Karl Dubowsky S. "Mobile robots in rough terrain : estimation, motion planning, and control with application to planetary rovers /". Berlin ; New York : Springer, 2004. http://www.loc.gov/catdir/toc/fy0606/2004106986.html.

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2

Luh, Cheng-Jye 1960. "Hierarchical modelling of mobile, seeing robots". Thesis, The University of Arizona, 1989. http://hdl.handle.net/10150/276998.

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This thesis describes the implementation of a hierarchical robot simulation environment which supports the design of robots with vision and mobility. A seeing robot model applies a classification expert system for visual identification of laboratory objects. The visual data acquisition algorithm used by the robot vision system has been developed to exploit multiple viewing distances and perspectives. Several different simulations have been run testing the visual logic in a laboratory environment. Much work remains to integrate the vision system with the rest of the robot system.

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Sorour, Mohamed. "Motion discontinuity-robust controller for steerable wheeled mobile robots". Thesis, Montpellier, 2017. http://www.theses.fr/2017MONTS090/document.

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Les robots mobiles à roues orientables gagnent de la mobilité en employant des roues conventionnelles entièrement orientables, comportant deux joints actifs, un pour la direction et un autre pour la conduite. En dépit d'avoir seulement un degré de mobilité (DOM) (défini ici comme degrés de liberté instantanément autorisés DOF), correspondant à la rotation autour du centre de rotation instantané (ICR), ces robots peuvent effectuer des trajectoires planaires complexes de $ 2D $. Ils sont moins chers et ont une capacité de charge plus élevée que les roues non conventionnelles (par exemple, Sweedish ou Omni-directional) et, en tant que telles, préférées aux applications industrielles. Cependant, ce type de structure de robot mobile présente des problèmes de contrôle textit {basic} difficiles de la coordination de la direction pour éviter les combats d'actionneur, en évitant les singularités cinématiques (ICR à l'axe de la direction) et les singularités de représentation (du modèle mathématique). En plus de résoudre les problèmes de contrôle textit {basic}, cette thèse attire également l'attention et présente des solutions aux problèmes de textit {niveau d'application}. Plus précisément, nous traitons deux problèmes: la première est la nécessité de reconfigurer "de manière discontinue" les articulations de direction, une fois que la discontinuité dans la trajectoire du robot se produit. Une telle situation - la discontinuité dans le mouvement du robot - est plus susceptible de se produire de nos jours, dans le domaine émergent de la collaboration homme-robot. Les robots mobiles qui fonctionnent à proximité des travailleurs humains en mouvement rapide rencontrent généralement une discontinuité dans la trajectoire calculée en ligne. Le second apparaît dans les applications nécessitant que l'angle de l'angle soit maintenu, certains objets ou fonctionnalités restent dans le champ de vision (p. Ex., Pour les tâches basées sur la vision) ou les changements de traduction. Ensuite, le point ICR est nécessaire pour déplacer de longues distances d'un extrême de l'espace de travail à l'autre, généralement en passant par le centre géométrique du robot, où la vitesse du robot est limitée. Dans ces scénarios d'application, les contrôleurs basés sur l'ICR à l'état de l'art conduiront à des comportements / résultats insatisfaisants. Dans cette thèse, nous résolvons les problèmes de niveau d'application susmentionnés; à savoir la discontinuité dans les commandes de vitesse du robot et une planification meilleure / efficace pour le contrôle du mouvement du point ICR tout en respectant les limites maximales de performance des articulations de direction et en évitant les singularités cinématiques et représentatives. Nos résultats ont été validés expérimentalement sur une base mobile industrielle
Steerable wheeled mobile robots gain mobility by employing fully steerable conventional wheels, having two active joints, one for steering, and another for driving. Despite having only one degree of mobility (DOM) (defined here as the instantaneously accessible degrees of freedom DOF), corresponding to the rotation about the instantaneous center of rotation (ICR), such robots can perform complex $2D$ planar trajectories. They are cheaper and have higher load carrying capacity than non-conventional wheels (e.g., Sweedish or Omni-directional), and as such preferred for industrial applications. However, this type of mobile robot structure presents challenging textit{basic} control issues of steering coordination to avoid actuator fighting, avoiding kinematic (ICR at the steering joint axis) and representation (from the mathematical model) singularities. In addition to solving the textit{basic} control problems, this thesis also focuses attention and presents solutions to textit{application level} problems. Specifically we deal with two problems: the first is the necessity to "discontinuously" reconfigure the steer joints, once discontinuity in the robot trajectory occurs. Such situation - discontinuity in robot motion - is more likely to happen nowadays, in the emerging field of human-robot collaboration. Mobile robots working in the vicinity of fast moving human workers, will usually encounter discontinuity in the online computed trajectory. The second appears in applications requiring that some heading angle is to be maintained, some object or feature stays in the field of view (e.g., for vision-based tasks), or the translation verse changes. Then, the ICR point is required to move long distances from one extreme of the workspace to the other, usually passing by the robot geometric center, where the feasible robot velocity is limited. In these application scenarios, the state-of-art ICR based controllers will lead to unsatisfactory behavior/results. In this thesis, we solve the aforementioned application level problems; namely discontinuity in robot velocity commands, and better/efficient planning for ICR point motion control while respecting the maximum steer joint performance limits, and avoiding kinematic and representational singularities. Our findings has been validated experimentally on an industrial mobile base

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4

Perko, Eric Michael. "Precision Navigation for Indoor Mobile Robots". Case Western Reserve University School of Graduate Studies / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=case1345513785.

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Wooden, David T. "Graph-based Path Planning for Mobile Robots". Diss., Available online, Georgia Institute of Technology, 2006, 2006. http://etd.gatech.edu/theses/available/etd-11092006-180958/.

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Thesis (Ph. D.)--Electrical and Computer Engineering, Georgia Institute of Technology, 2007.
Magnus Egerstedt, Committee Chair ; Patricio Vela, Committee Member ; Ayanna Howard, Committee Member ; Tucker Balch, Committee Member ; Wayne Book, Committee Member.

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Switzer, Barbara T. "Robotic path planning with obstacle avoidance /". Online version of thesis, 1993. http://hdl.handle.net/1850/11712.

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Kwok, Chung Tin. "Robust real-time perception for mobile robots /". Thesis, Connect to this title online; UW restricted, 2004. http://hdl.handle.net/1773/7017.

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Tang, Yilun. "Robot navigation and localization in regular office environment /". View abstract or full-text, 2010. http://library.ust.hk/cgi/db/thesis.pl?CSED%202010%20TANG.

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Smith, Brian Stephen. "Automatic coordination and deployment of multi-robot systems". Diss., Atlanta, Ga. : Georgia Institute of Technology, 2009. http://hdl.handle.net/1853/28248.

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Thesis (M. S.)--Electrical and Computer Engineering, Georgia Institute of Technology, 2009.
Committee Chair: Dr. Magnus Egerstedt; Committee Co-Chair: Dr. Ayanna Howard; Committee Member: Dr. David Taylor; Committee Member: Dr. Frank Dellaert; Committee Member: Dr. Ian Akyildiz; Committee Member: Dr. Jeff Shamma.

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Baba, Akihiko. "Robot navigation using ultrasonic feedback". Morgantown, W. Va. : [West Virginia University Libraries], 1999. http://etd.wvu.edu/templates/showETD.cfm?recnum=677.

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Thesis (M.S.)--West Virginia University, 1999.
Title from document title page. Document formatted into pages; contains viii, 122 p. : ill. Includes abstract. Includes bibliographical references (p. 57-59).

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Libri sul tema "Mobile robots"

1

L, Jones Joseph. Mobile robots: Inspiration to implementation. 2^a ed. Natick, Mass: A.K. Peters, 1999.

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2

Buratowski, Tomasz. Mobile robots - selected issues: Mobilne roboty - zagadnienia wybrane. Krakow: AGH University of science and Technology Press, 2013.

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Cook, Gerald. Mobile Robots. Hoboken, NJ, USA: John Wiley & Sons, Inc., 2011. http://dx.doi.org/10.1002/9781118026403.

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S, Iyengar S., e Elfes Alberto, a cura di. Autonomous mobile robots. Los Alamitos, Calif: IEEE Computer Society Press, 1991.

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Sitharama, Iyengar S., e Elfes Alberto, a cura di. Autonomous mobile robots. Los Alamitos, Calif: IEEE Computer Society Press, 1991.

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6

J, Wolfe William, Kenyon Chase H e Society of Photo-optical Instrumentation Engineers., a cura di. Mobile robots X: 23-24 October, 1995, Philadelphia, Pennsylvania. Bellingham, Wash., USA: SPIE, 1995.

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J, Wolfe William, Chun Wendell H e Society of Photo-optical Instrumentation Engineers., a cura di. Mobile robots IX: 2-4 November 1994, Boston, Massachusetts. Bellingham, Wash., USA: SPIE, 1995.

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J, Wolfe William, Chun Wendell H, Society of Photo-optical Instrumentation Engineers. e Automated Imaging Association, a cura di. Mobile robots VIII: 9-10 Setember 1993, Boston, Massachusetts. Bellingham, Wash., USA: SPIE, 1994.

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J, Wolfe William, Chun Wendell H, Society of Photo-optical Instrumentation Engineers. e Automated Imaging Association, a cura di. Mobile robots VIII: 9-10 September 1993, Boston, Massachusetts. Bellingham, Wash., USA: SPIE, 1994.

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1946-, Zheng Yuan-Fang, a cura di. Recent trends in mobile robots. Singapore: World Scientific, 1993.

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Capitoli di libri sul tema "Mobile robots"

1

González Rodríguez, Ángel Gaspar, e Antonio González Rodríguez. "Mobile Robots". In Advanced Mechanics in Robotic Systems, 41–57. London: Springer London, 2011. http://dx.doi.org/10.1007/978-0-85729-588-0_3.

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Fahimi, Farbod. "Mobile Robots". In Autonomous Robots, 1–58. Boston, MA: Springer US, 2008. http://dx.doi.org/10.1007/978-0-387-09538-7_6.

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3

Mihelj, Matjaž, Tadej Bajd, Aleš Ude, Jadran Lenarčič, Aleš Stanovnik, Marko Munih, Jure Rejc e Sebastjan Šlajpah. "Mobile Robots". In Robotics, 189–208. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-72911-4_13.

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Todd, D. J. "Mobile Robots". In Fundamentals of Robot Technology, 171–204. Dordrecht: Springer Netherlands, 1986. http://dx.doi.org/10.1007/978-94-011-6768-0_9.

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Poole, Harry H. "Mobile Robots". In Fundamentals of Robotics Engineering, 189–220. Dordrecht: Springer Netherlands, 1989. http://dx.doi.org/10.1007/978-94-011-7050-5_8.

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Bräunl, Thomas. "Learning Robots". In Mobile Robot Programming, 151–60. Cham: Springer International Publishing, 2023. http://dx.doi.org/10.1007/978-3-031-32797-1_12.

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Staicu, Stefan. "Mobile Wheeled Robots". In Parallel Robots: Theory and Applications, 277–308. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-99522-9_11.

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Arrichiello, Filippo. "Multiple Mobile Robots". In Encyclopedia of Systems and Control, 1–8. London: Springer London, 2020. http://dx.doi.org/10.1007/978-1-4471-5102-9_100028-1.

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Arrichiello, Filippo. "Multiple Mobile Robots". In Encyclopedia of Systems and Control, 1389–96. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-44184-5_100028.

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Indiveri, Giovanni. "Omnidirectional Mobile Robots". In Encyclopedia of Robotics, 1–5. Berlin, Heidelberg: Springer Berlin Heidelberg, 2022. http://dx.doi.org/10.1007/978-3-642-41610-1_47-1.

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Atti di convegni sul tema "Mobile robots"

1

Arunkumar, V., Devika Rajasekar e N. Aishwarya. "A Review Paper on Mobile Robots Applications in Search and Rescue Operations". In International Conference on Future Technologies in Manufacturing, Automation, Design and Energy. Switzerland: Trans Tech Publications Ltd, 2023. http://dx.doi.org/10.4028/p-ip2l3t.

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Mobile robots have gained popularity in recent decades, owing to its capacity to be deployed in dangerous environments without jeopardizing humans. Mobile robotic vehicles are frequently used today to carry out tasks including environmental recognition, inspecting urbanized and industrial terrains, for search and rescue activities. Presently, search and rescue robot technology is progressing from experimental and theoretical studies towards applicability. The proper execution of a mobile robotic movement in a working environment depends on being aware of the nearby obstacles and avoiding any collisions that may occur. Robots today are integrated with several smart technologies that are necessary to model the environment and localize their position, control the movements, identify obstructions, and avoid obstacles based on the terrain and surface they are employed on by applying navigational procedures. This paper explores the various mobile robotics systems and their working currently in place utilized for rescue and search operations.

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Ghim, Yong-Gyun. "Designing Mobile Robots: A Systems Thinking Approach for Industrial Designers". In 13th International Conference on Applied Human Factors and Ergonomics (AHFE 2022). AHFE International, 2022. http://dx.doi.org/10.54941/ahfe1002024.

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With robots’ presence gradually expanding to homes and public spaces, there are increasing needs for new robot development and design. Mobile robots’ autonomous and dynamic behaviors ask for new design approaches and methods that are different from the ones for designing non-robotic products. This study proposes a methodology for designing mobile robots from a systems thinking perspective to supplement the limitation of traditional industrial design approaches. A conceptual framework consisting of user, robot, and environment is proposed and task flow models are built to help designers analyze and specify complex interactions between multiple system elements. A robot system blueprint, a storyboard, and a system map are subsequently introduced to design and represent a product-service system of a robot holistically. This approach was applied to student projects for mobile robot design in a fourth-year studio course at a university’s industrial design program.

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Yao, Albert W. L., e H. T. Liao. "Development of an Intelligent Grey-RSS Navigation System for Mobile Robots". In ASME/ISCIE 2012 International Symposium on Flexible Automation. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/isfa2012-7175.

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This study aims at developing an intelligent navigation system for mobile robots to eliminate the cumulative errors caused by using a conventional optical encoder. The optical encoder for mobile robots is supplanted by an intelligent Grey-RSS navigation system (IGRNS) with a RFID system embedded with a RSS (Received Signal Strength) location estimator and a Grey predictor for robot rotation angle prediction. The RFID system identifies the target with active RFID tag. The RSS location estimator then calculates the possible route of robot. The Grey controller optimizes the traveling route quickly. The simulation results show that the proposed IGRNS can reduce robot’s unstable rotation when locating the target. With IGRNS, the mobile robot takes fewer steps to reach target quickly. The performance of IGRNS is better than the one with the RSS navigation system alone.

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4

Zhou, Yu. "A Distributed Self-Deployment Algorithm Suitable for Multiple Nonholonomic Mobile Robots". In ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/detc2008-50056.

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This paper introduces a novel distributed algorithm for deploying multi-robot systems, consisting of mobile robots with onboard sensing and wireless communication of limited ranges, to approach the desired sensory coverage while maintaining communication connection over targeted 2D environments. A virtual potential energy is defined for each mobile robot according to the difference between the actual and desired configurations in the neighborhood of the robot, which generates the actuating force to move the robot towards the desired local coverage. The Rayleigh’s dissipation function is adopted to provide the necessary damping mechanism which maintains the stability of the deployment motion for each robot. The equation of deployment motion for each mobile robot is then derived from the Hamilton’s principle using the method of the variational calculus, which defines the movement of the robot to approach the desired local configuration. The formulation of the variational calculus also provides a convenience way to incorporate the nonholonomic constraint arising in wheeled robots. Since the equation of deployment motion for each robot depends on only the robot’s own kinematic state and its detectable positional relationship with nearby objects, the proposed algorithm decentralizes the multi-robot deployment problem into the motion control of individual robots. Simulation results show the feasibility of the proposed approach in guiding the deployment of multi-robot systems.

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5

Gan, Dongming, Jiaming Fu, Mo Rastgaar, Byung-Cheol Min e Richard Voyles. "Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Function". In ASME 2021 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2021. http://dx.doi.org/10.1115/detc2021-70081.

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Abstract Mobile robots with manipulation capability are a key technology that enables flexible robotic interactions, large area covering and remote exploration. This paper presents a novel class of actuation-coordinated mobile parallel robots (ACMPRs) that utilize parallel mechanism configurations and perform hybrid moving and manipulation functions through coordinated wheel actuators. The ACMPRs differ with existing mobile manipulators by their unique combination of the mobile wheel actuators and the parallel mechanism topology through prismatic joint connections. The common motion of the wheels will provide the mobile function while their differentiation will actuate the parallel manipulator function. This new concept reduces the actuation requirement and increases the manipulation accuracy and mobile motion stability through the coordinated and connected wheel actuators comparing with existing mobile parallel manipulators. The relative wheel location on the base frame also enables a reconfigurable base size with variable moving stability on the ground. The basic concept and general type synthesis are introduced and followed by the kinematics and inverse dynamics analysis of a selected three limb ACMPR. A numerical simulation also illustrates the dynamics model and the motion property of the new mobile parallel robot. The work provides a basis for introducing this new class of robots for potential applications in surveillance, industrial automation, construction, transportation, human assistance, medical applications and other operations in extreme environment such as nuclear plants, Mars, etc.

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6

Biswas, Joydeep. "The Quest For "Always-On" Autonomous Mobile Robots". In Twenty-Eighth International Joint Conference on Artificial Intelligence {IJCAI-19}. California: International Joint Conferences on Artificial Intelligence Organization, 2019. http://dx.doi.org/10.24963/ijcai.2019/893.

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Building ``always-on'' robots to be deployed over extended periods of time in real human environments is challenging for several reasons. Some fundamental questions that arise in the process include: 1) How can the robot reconcile unexpected differences between its observations and its outdated map of the world? 2) How can we scalably test robots for long-term autonomy? 3) Can a robot learn to predict its own failures, and their corresponding causes? 4) When the robot fails and is unable to recover autonomously, can it utilize partially specified, approximate human corrections to overcome its failures? We summarize our research towards addressing all of these questions. We present 1) Episodic non-Markov Localization to maintain the belief of the robot's location while explicitly reasoning about unmapped observations; 2) a 1,000km challenge to test for long-term autonomy; 3) feature-based and learning-based approaches to predicting failures; and 4) human-in-the-loop SLAM to overcome robot mapping errors, and SMT-based robot transition repair to overcome state machine failures.

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7

Canfield, Stephen L., Daniel Langley e Alexander Shibakov. "Developing Metrics for Comparison of Mobile Robots Performing Welding Tasks". In ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/detc2013-13672.

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Developments in mobile robotic systems are leading to new methods and techniques for manufacturing processes in fields that traditionally have not seen much automation. Some of these tasks require process validation prior to use in the manufacturing process. One such example process is welding. However, there is a lack of industry standards for mechanized or robotic welding that can impede the introduction of mobile robotic welding systems in the market place. There is also a lack of generalized fitness measures that gauge the suitability of mobile robot topologies or dimensional designs to a set of tasks and can be used in the design or verification process. This paper will propose such a metric and demonstrate its use in evaluating mobile robot designs for welding tasks. The approach will be based on the representation of a general task as a pair of n-dimensional subsets in the Euclidean n-space. Similarly, the robot capabilities are represented as n-dimensional subsets (manipulability and torque ellipse) in the Euclidean n-space. The motivation is to enable a direct geometric comparison of the capabilities of the robot to the requirements of the task yielding a quantitative measure of fitness. This method is suggested to be well suited to tasks comprised of a relatively short sequence of well-defined motions, called gaits, which are performed repeatedly or in a periodic manner. Some examples are welding, swimming, painting or inspection. The paper will demonstrate the use of this metric in the evaluation and design of mobile robots for welding tasks with a desired set of weld pattern motions. Three mobile welding platforms having different topological kinematic arrangements will be evaluated based on this design verification metric. This metric will further be shown to supplement the weld qualification process through verification of the motion control portions of the weld process based on a specific robot design. The method will contribute to the design and development of mobile robotic welding systems to become viable and accepted manufacturing processes.

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Cruz-López, Salvador, Guillermo Manuel Urriolagoitia-Calderón, Beatriz Romero-Ángeles, Guillermo Urriolagoitia-Sosa, Rodrigo Arturo Marquet-Rivera, Rosa Alicia Hernández-Vázquez e Octavio Alejandro Mastache-Miranda. "Statical Numerical Analysis and Material Optimization of Arthropod-Inspired Hexapod Robots for Disaster Rescue Applications". In The 2023 9th International Conference on Advanced Engineering and Technology. Switzerland: Trans Tech Publications Ltd, 2024. http://dx.doi.org/10.4028/p-gtcs92.

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The development of arthropod-inspired robotic architecture, modeled after the limbs of insects and other animals, has enabled robots to behave more flexibly and adaptively in different environments. Among these designs, hexapod robots have gained significant attention due to their potential use in disaster rescue scenarios, providing vital support for lifesaving and damage control in emergency situations. This study addresses the numerical analysis of a hexapod robot specifically tailored for use in disaster areas, with a particular focus on the crucial aspect of material optimization. Hexapod robots, equipped with articulated legs that mimic insect-like movements, have shown remarkable success in exploration tasks, especially in navigating hard-to-reach places. The main body of the robot was designed using durable yet lightweight materials to optimize load-bearing capacity for the required equipment and rescue tools. A thorough static numerical analysis was performed to ensure the structural integrity and efficiency of the robot. Finite element simulation programs were used for the static numerical analysis, allowing evaluation of the stresses and deformations to which the robot would be subjected under various loading conditions. The selection of materials played a critical role in improving the robot's performance and survivability during disaster operations. Various materials, including composites and advanced alloys, were tested, and analyzed for their mechanical properties and suitability for harsh conditions. In particular, the resistance of the robot to the impact of a falling cubic reinforced concrete element was investigated by simulating a stone collapse. The results of this study shed light on the influence of materials on the robot's ability to cope with unpredictable and challenging scenarios, ultimately contributing to the development of more robust and reliable Hexapod robots for disaster operations. The results of this research contribute significantly to ongoing advances in robotics technology for disaster operations. By leveraging the unique characteristics of arthropod-inspired Hexapod robots and optimizing their material composition, this study highlights the potential of these mobile devices to revolutionize rescue operations in challenging and hazardous environments, ultimately saving lives and minimizing the impact of disasters.

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Jin, Xin, Kushal Mukherjee, Shalabh Gupta e Asok Ray. "Wavelet-Based Feature Extraction for Behavior Recognition in Mobile Robots". In ASME 2010 Dynamic Systems and Control Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/dscc2010-4059.

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This paper introduces a dynamic data-driven method for behavior recognition in mobile robots. The core concept of the paper is built upon the principle of symbolic dynamic filtering (SDF) that is used to extract relevant information in complex dynamical systems. The objective here is to identify the robot behavior from time-series data of piezoelectric sensor signals from the pressure sensitive floor in a laboratory environment. A symbolic feature extraction method is presented by partitioning of two-dimensional wavelet images of sensor time-series data. The K-nearest neighbors (k-NN) algorithm is used to identify the patterns extracted by SDF. The proposed method is validated by experimentation on a networked robotics test bed to detect and identify the type and motion profile of mobile robots.

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Zhang, Guoxian, e Devendra P. Garg. "Mobile Multi-Robot Control in Target Search and Retrieval". In ASME 2008 Dynamic Systems and Control Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/dscc2008-2196.

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In this paper, the design of a controller is proposed for a multi-robot target search and retrieval system. Inspired by research in insect foraging and swarm robotics, we developed a transition mechanism for the multi-robot system. Environmental information and task performance obtained by the robot system are used to adjust individual robot’s parameters and guide environment exploration. The proposed control system is applicable in the solution of multi-target problem also where several robots may be needed to cooperate together to retrieve a large target. Simulations show that the task performance improves significantly with the proposed method by sharing information in parameter learning and environment exploration.

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Rapporti di organizzazioni sul tema "Mobile robots"

1

Leonard, John J. Cooperative Autonomous Mobile Robots. Fort Belvoir, VA: Defense Technical Information Center, luglio 2005. http://dx.doi.org/10.21236/ada463215.

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2

Suzuki, Ichiro. Distributed Methods for Controlling Multiple Mobile Robots. Fort Belvoir, VA: Defense Technical Information Center, aprile 1994. http://dx.doi.org/10.21236/ada283919.

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3

Sugihara, Kazuo, e Ichiro Suzuki. Distributed Algorithms for Controlling Multiple Mobile Robots. Fort Belvoir, VA: Defense Technical Information Center, gennaio 1994. http://dx.doi.org/10.21236/ada283975.

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4

Shneier, Michael, e Roger Bostelman. Literature Review of Mobile Robots for Manufacturing. National Institute of Standards and Technology, maggio 2015. http://dx.doi.org/10.6028/nist.ir.8022.

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5

Barraquand, Jerome, e Jean-Claude Latombe. Controllability of Mobile Robots with Kinematic Constraints. Fort Belvoir, VA: Defense Technical Information Center, giugno 1990. http://dx.doi.org/10.21236/ada326998.

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6

Graves, Kevin P. Continuous Localization and Navigation of Mobile Robots. Fort Belvoir, VA: Defense Technical Information Center, maggio 1997. http://dx.doi.org/10.21236/ada418467.

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Olson, Edwin. JOMAR: Joint Operations with Mobile Autonomous Robots. Fort Belvoir, VA: Defense Technical Information Center, dicembre 2015. http://dx.doi.org/10.21236/ada635952.

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8

Carroll, Daniel, H. R. Everett, Gary Gilbreath e Katherine Mullens. Extending Mobile Security Robots to Force Protection Missions. Fort Belvoir, VA: Defense Technical Information Center, luglio 2002. http://dx.doi.org/10.21236/ada422161.

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9

Gaudiano, Paolo. Adaptive Control and Navigation of Autonomous Mobile Robots. Fort Belvoir, VA: Defense Technical Information Center, agosto 2000. http://dx.doi.org/10.21236/ada381430.

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10

Fong, Edward H. Acquisition of 3-D Map Structures for Mobile Robots. Fort Belvoir, VA: Defense Technical Information Center, maggio 2002. http://dx.doi.org/10.21236/ada403360.

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