Gotowe bibliografie tematyczne / Mobile and static robots

Gotowa bibliografia na temat „Mobile and static robots”

Autor: Grafiati
Data publikacji: 4 czerwca 2021
Data aktualizacji: 20 lutego 2023

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Artykuły w czasopismach na temat "Mobile and static robots"

1

Zhang, Sitong, i Tianyi Zhao. "Mobile Robot Path Planning in 2D Space: A Survey". Highlights in Science, Engineering and Technology 16 (10.11.2022): 279–89. http://dx.doi.org/10.54097/hset.v16i.2508.

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Robot path planning is task of navigating a mobile robot around a space in which lie a number of obstacles that have to be avoided. Path-planning can be static or dynamic.It is also an important primitive for autonomous mobile robots that lets robots find the shortest or otherwise optimal path between two points. Here we deal with static path-planning. We proposed 8 methods for path planning on this topic.
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Hirano, Tetsuro, Masato Ishikawa i Koichi Osuka. "Control and Development of Cylindrical Mobile Robot". Journal of Robotics and Mechatronics 25, nr 2 (20.04.2013): 392–99. http://dx.doi.org/10.20965/jrm.2013.p0392.

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Mobile robots are often exposed to various hazardous situations such as wet or dusty environments. However, it is easy for robots whose components are totally covered with a rigid shell to travel in such environments. For these robots, rolling is an effective way of locomotion. In this study, we focused on a rolling robot with a cylindrical shell to operate in such environments. We analyzed and developed the robot utilizing its interesting geometrical properties and established a control strategy for static locomotion.
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Güzel, Mehmet Serdar, Mehmet Kara i Mehmet Sıtkı Beyazkılıç. "An adaptive framework for mobile robot navigation". Adaptive Behavior 25, nr 1 (23.01.2017): 30–39. http://dx.doi.org/10.1177/1059712316685875.

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Collective behaviours observed in nature bring new methodologies in proposing control algorithms for robot groups to perform a variety of complex tasks. In this article, an adaptive algorithm, allowing the safe navigation of a group of robots in a collective manner, is proposed. The algorithm, inspired from the adaptive particle swarm optimization technique, proposes an efficient control approach to overcome both static and moving obstacles. Accordingly, compared to the conventional particle swarm optimization algorithm, the proposed system allows a robot or group of robots (swarm) to complete the goal while avoiding static and moving obstacles as well as dynamic targets in a safe and collective manner. The simulation results verify the overall performance and reliability of the proposed system.
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4

Fiedeń, Mateusz, i Jacek Bałchanowski. "A Mobile Robot with Omnidirectional Tracks—Design and Experimental Research". Applied Sciences 11, nr 24 (11.12.2021): 11778. http://dx.doi.org/10.3390/app112411778.

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This article deals with the design and testing of mobile robots equipped with drive systems based on omnidirectional tracks. These are new mobile systems that combine the advantages of a typical track drive with the advantages of systems equipped with omnidirectional Mecanum wheels. The omnidirectional tracks allow the robot to move in any direction without having to change the orientation of its body. The mobile robot market (automated construction machinery, mobile handle robots, mobile platforms, etc.) constantly calls for improvements in the manoeuvrability of vehicles. Omnidirectional drive technology can meet such requirements. The main aim of the work is to create a mobile robot that is capable of omnidirectional movement over different terrains, and also to conduct an experimental study of the robot’s operation. The paper presents the construction and principles of operation of a small robot equipped with omnidirectional tracks. The robot’s construction and control system, and also a prototype made with FDM technology, are described. The trajectory parameters of the robot’s operation along the main and transverse axes were measured on a test stand equipped with a vision-based measurement system. The results of the experimental research became the basis for the development and experimental verification of a static method of correcting deviations in movement trajectory.
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Guo, Li Xin, Qiu Ye Huang, Hua Long Xie, Jin Li Li i Zhao Wen Wang. "Localization and Control System of Mobile Robot Based on Wireless Sensor Network". Applied Mechanics and Materials 16-19 (październik 2009): 1133–37. http://dx.doi.org/10.4028/www.scientific.net/amm.16-19.1133.

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The localization of mobile robots is one of important problems for navigation of mobile robots. The wireless sensor network, i.e., Cricket wireless localization technology, was used to obtain motive condition of mobile objects in this study. The information transmission between the Cricket localization system and mobile robot system was achieved for localization, navigation and control of the mobile object. The errors of localization sampling data of the Cricket localization system vary within 3cm in a static condition. The Cricket localization system can meet the navigation requirement of the mobile robots.
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Gulevskiy, V. V. "ON QUASI-STATIC MODES OF MOTION OF UNDERWATER MOBILE ROBOTS WITH ANCHOR-ROPE-TRACK DRIVES". IZVESTIA VOLGOGRAD STATE TECHNICAL UNIVERSITY, nr 9(256) (15.09.2021): 26–31. http://dx.doi.org/10.35211/1990-5297-2021-9-256-26-31.

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A method for calculating mobile robots with anchor-cable-tracked drives is considered. The influence of the mass-geometric characteristics of a mobile robot on the stability of its movement in quasi-static modes of movement along the bottom of a reservoir is considered.
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Rodríguez-Molina, Alejandro, Axel Herroz-Herrera, Mario Aldape-Pérez, Geovanni Flores-Caballero i Jarvin Alberto Antón-Vargas. "Dynamic Path Planning for the Differential Drive Mobile Robot Based on Online Metaheuristic Optimization". Mathematics 10, nr 21 (27.10.2022): 3990. http://dx.doi.org/10.3390/math10213990.

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Mobile robots are relevant dynamic systems in recent applications. Path planning is an essential task for these robots since it allows them to move from one location to another safely and at an affordable cost. Path planning has been studied extensively for static scenarios. However, when the scenarios are dynamic, research is limited due to the complexity and high cost of continuously re-planning the robot’s movements to ensure its safety. This paper proposes a new, simple, reliable, and affordable method to plan safe and optimized paths for differential mobile robots in dynamic scenarios. The method is based on the online re-optimization of the static parameters in the state-of-the-art deterministic path planner Bug0. Due to the complexity of the dynamic path planning problem, a metaheuristic optimization approach is adopted. This approach utilizes metaheuristics from evolutionary computation and swarm intelligence to find the Bug0 parameters when the mobile robot is approaching an obstacle. The proposal is tested in simulation, and well-known metaheuristic methods are compared, including Differential Evolution (DE), the Genetic Algorithm (GA), and Particle Swarm Optimization (PSO). The dynamic planner based on PSO generates paths with the best performances. In addition, the results of the PSO-based planner are compared with different Bug0 configurations, and the former is shown to be significantly better.
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Lin, Hung-Hsing, i Ching-Chih Tsai. "Improved global localization of an indoor mobile robot via fuzzy extended information filtering". Robotica 26, nr 2 (marzec 2008): 241–54. http://dx.doi.org/10.1017/s0263574707003876.

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SUMMARYGlobal localization of mobile robots has been well studied using the extended Kalman filter (EKF) method. This paper presents a fuzzy extended information filtering (FEIF) approach to improving global localization of an indoor autonomous mobile robot with ultrasonic and laser scanning measurements. A real-time FEIF algorithm is proposed to improve accuracy of static global pose estimation via multiple ultrasonic data. By fusing odometric, ultrasonic, and laser scanning data, a real-time FEIF-based pose tracking algorithm is developed to improve accuracy of the robot's continuous poses. Several experimental results are performed to confirm the efficacy of the proposed methods.
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Dewi, Tresna, Naoki Uchiyama, Shigenori Sano i Hiroki Takahashi. "Swarm Robot Control for Human Services and Moving Rehabilitation by Sensor Fusion". Journal of Robotics 2014 (2014): 1–11. http://dx.doi.org/10.1155/2014/278659.

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A current trend in robotics is fusing different types of sensors having different characteristics to improve the performance of a robot system and also benefit from the reduced cost of sensors. One type of robot that requires sensor fusion for its application is the service robot. To achieve better performance, several service robots are preferred to work together, and, hence, this paper concentrates on swarm service robots. Swarm service mobile robots operating within a fixed area need to cope with dynamic changes in the environment, and they must also be capable of avoiding dynamic and static obstacles. This study applies sensor fusion and swarm concept for service mobile robots in human services and rehabilitation environment. The swarm robots follow the human moving trajectory to provide support to human moving and perform several tasks required in their living environment. This study applies a reference control and proportional-integral (PI) control for the obstacle avoidance function. Various computer simulations are performed to verify the effectiveness of the proposed method.
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Conceicao, Andre G. S., Mariane D. Correia i Luciana Martinez. "Modeling and friction estimation for wheeled omnidirectional mobile robots". Robotica 34, nr 9 (12.02.2015): 2140–50. http://dx.doi.org/10.1017/s0263574715000065.

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SUMMARYIn this study, a model for wheeled mobile robots that includes a static friction model in the force balance at the robot's center of mass is presented. Additionally, a least-squares method to linearly combine functions is proposed to estimate the friction coefficients. The experimental and simulation results are discussed to demonstrate the effectiveness of this approach in indoor environments for two floor types.
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Rozprawy doktorskie na temat "Mobile and static robots"

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CALMINDER, SIMON, i CHITTUM MATTHEW KÄLLSTRÖM. "Object Tracking and Interception System : Mobile Object Catching Robot using Static Stereo Vision". Thesis, KTH, Mekatronik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-233135.

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The aim of this project is to examine the feasibility and reliability of the use of a low cost computer vision system to track and intercept a thrown object. A stereo vision system tracks the object using color recognition and then guides a mobile wheeled robot towards an interception point in order to capture it. Two different trajectory prediction models are compared. One model fits a second degree polynomial to the collected positional measurements of the object and the other uses the Forward Euler Method to construct the objects flight path. To accurately guide the robot, the angular position of the robot must also be measured. Two different methods of measuring the angular position are presented and their respective reliability are measured. A calibrated magnetometer is used as one method while pure computer vision is implemented as the alternative method. A functional object tracking and interception system that was able to intercept the thrown object was constructed using both the polynomial fitting trajectory prediction model as well as the one based on the Forward Euler Method. The magnetometer and pure computer vision are both viable methods of determining the angular position of the robot with an error of less than 1.5°.
I detta projekt behandlas konstruktionen av och pålitligheten i en bollfånganderobot och dess bakomliggande lågbudgetkamerasystem. För att fungera i tre dimensioner används en stereokameramodul som spårar bollen med hjälp av färgigenkänning och beräknar bollbanan samt förutspår nedslaget för att ge god tid till roboten att genskjuta bollen. Två olika bollbanemodeller testas, där den ena tar hänsyn till luftmotståndet och nedslaget beräknas numeriskt och den andra anpassar en andragradspolynom till de observerade datapunkterna. För att styra roboten till den tänkta uppfångningspunkten behövs både robotens position, vilket bestäms med kameramodulen, och robotens riktning.Riktningen bestäms medbåde en magnetometer och med kameramodulen, för att undersöka vilken metod som passar bäst. Den förslagna konstruktionen för roboten och kamerasystemet kan spåra och fånga objekt med bådadera de testade modellerna för att beräkna bollbana, dock så är tillförlitligheten i den numeriska metoden betydligt känsligare för dåliga mätvärden. Det är även möjligt att använda sig av både magnetometern eller endast kameramodulen för att bestämma robotens riktning då båda ger ett fel under 1.5°.
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Hichri, Bassem. "Design and control of collaborative, cross and carry mobile robots : C3Bots". Thesis, Clermont-Ferrand 2, 2015. http://www.theses.fr/2015CLF22601/document.

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L'objectif du travail proposé est de concevoir et commander un groupe des robots mobiles similaires et d'architecture simple appelés m-bots (mono-robots). Plusieurs m-bots ont la capacité de saisir ensemble un objet afin d'assurer sa co-manipulation et son transport quelle que soit sa forme et sa masse. Le robot résultant est appelé p-bot (poly-robot) et est capable d'effectuer des tâches de déménageur pour le transport d'objets génériques. La reconfigurabilité du p-bot par l'ajustement du nombre des m-bots utilisés permet de manipuler des objets lourds et des objets de formes quelconques (particulièrement s'ils sont plus larges qu'un seul m-bot). Sont considérés dans ce travail l'évitement d'obstacle ainsi que la stabilité du p-bot incluant la charge à transporter. Une cinématique pour un mécanisme de manipulation a été proposée et étudiée. Ce dernier assure le levage de la charge et son dépôt sur le corps des robots pour la transporter. Plusieurs variantes d'actionnement ont été étudiées : passif, avec compliance et actionné. Un algorithme de positionnement optimal des m-bots autour de l'objet à manipuler a été proposé afin d'assurer la réussite de la tâche à effectuer par les robots. Cet algorithme respecte le critère de "Force Closure Grasping" qui assure la stabilité de la charge durant la phase de manipulation. Il maintient aussi une marge de stabilité statique qui assure la stabilité de l'objet durant la phase de transport. Enfin, l'algorithme respecte le critère des zones inaccessibles qui ne peuvent pas être atteintes par les m-bots. Une loi de commande a été utilisée afin d'atteindre les positions désirées pour les m-bots et d'assurer la navigation en formation, durant la phase du transport, durant laquelle chaque robot élémentaire doit maintenir une position désirée par rapport à l'objet transporté. Des résultats de simulation pour un objet de forme quelconque, décrite par une courbe paramétrique, sont présentés. Des simulations 3D en dynamique multi-corps ainsi que des expériences menées sur les prototypes réalisés ont permis de valider nos propositions
Our goal in the proposed work is to design and control a group of similar mobile robots with a simple architecture, called m-bot. Several m-bots can grip a payload, in order to co-manipulate and transport it, whatever its shape and mass. The resulting robot is called a p-bot andis capable to solve the so-called "removal-man task" to transport a payload. Reconfiguring the p-bot by adjusting the number of m-bots allows to manipulate heavy objects and to manage objects with anyshape, particularly if they are larger than a single m-bot. Obstacle avoidance is addressed and mechanical stability of the p-bot and its payload is permanently guaranteed. A proposed kinematic architecture for a manipulation mechanism is studied. This mechanism allows to lift a payload and put it on them-bot body in order to be transported. The mobile platform has a free steering motion allowing the system maneuver in any direction. An optimal positioning of the m-bots around the payload ensures a successful task achievement without loss of stability for the overall system. The positioning algorithm respects the Force Closure Grasping (FCG) criterion which ensures the payload stability during the manipulation phase. It respects also the Static Stability Margin (SSM) criterion which guarantees the payload stability during the transport. Finally, it considers also the Restricted Areas (RA) that could not be reached by the robots to grab the payload. A predefined control law is then used to ensure the Target Reaching (TR) phase of each m-bot to its desired position around the payload and to track a Virtual Structure (VS), during the transportation phase, in which each elementary robot has to keep the desired position relative to the payload. Simulation results for an object of any shape, described by aparametric curve, are presented. Additional 3D simulation results with a multi-body dynamic software and experiments by manufactured prototypes validate our proposal
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Engwirda, Anthony, i N/A. "Self-Reliance Guidelines for Large Scale Robot Colonies". Griffith University. Griffith School of Engineering, 2007. http://www4.gu.edu.au:8080/adt-root/public/adt-QGU20070913.100750.

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A Large Scale Robot Colony (LSRC) is a complex artifact comprising of a significant population of both mobile and static robots. LSRC research is in its literary infancy and it is therefore necessary to rely upon external fields for the appropriate framework, Multi Agent Systems (MAS) and Large Scale Systems (LSS). At the intersection of MAS, LSS and LSRC exist near identical issues, problems and solutions. If attention is paid to coherence then solution portability is possible. The issue of Self-Reliability is poorly addressed by the MAS research field. Disparity between the real world and simulation is another area of concern. Despite these deficiencies, MAS and LSS are perceived as the most appropriate frameworks. MAS research focuses on three prime areas, cognitive science, management and interaction. LSRC is focused on Self-Sustainability, Self-Management and Self-Organization. While LSS research was not primarily intended for populations of mobile robots, it does address key issues of LSRC, such as effective sustainability and management. Implementation of LSRC that is based upon the optimal solution for any one or two of the three aspects will be inferior to a coherent solution based upon all three. LSRC’s are complex organizations with significant populations of both static and mobile robots. The increase in population size and the requirement to address the issue of Self-Reliance give rise to new issues. It is no longer sufficient to speak only in terms of robot intelligence, architecture, interaction or team behaviour, even though these are still valid topics. Issues such as population sustainability and management have greater significance within LSRC. As the size of a robot populations increases, minor uneconomical decisions and actions inhibit the performance of the population. Interaction must be made economical within the context of the LSRC. Sustainability of the population becomes significant as it enables stable performance and extended operational lifespan. Management becomes significant as a mechanism to direct the population so as to achieve near optimal performance. The Self-Sustainability, Self-Management and Self-Organization of LSRC are vastly more complex than in team robotics. Performance of the overall population becomes more significant than individual or team achievement. This thesis is a presentation of the Cooperative Autonomous Robot Colony (CARC) architecture. The CARC architecture is novel in that it offers a coherent baseline solution to the issue of mobile robot Self-Reliance. This research uses decomposition as a mechanism to reduce problem complexity. Self-Reliance is decomposed into Self-Sustainability, Self-Management, and Self-Organization. A solution to the issue of Self-Reliance will comprise of conflicting sub-solutions. A product of this research is a set of guidelines that manages the conflict of sub-solutions and maintains a coherent solution. In addressing the issue of Self-Reliance, it became apparent that Economies of Scale, played an important role. The effects of Economies of Scale directed the research towards LSRC’s. LSRC’s demonstrated improved efficiency and greater capability to achieve the requirements of Self-Reliance. LSRC’s implemented with the CARC architecture would extend human capability, enabling large scale operations to be performed in an economical manner, within real world and real time environments, including those of a remote and hostile nature. The theory and architecture are supported using published literature, experiments, observations and mathematical projections. Contributions of this work are focused upon the three pillars of Self-Reliance addressed by CARC: Self-Sustainability, Self-Management and Self-Organization. The chapter on Self-Sustainability explains and justifies the relevance of this issue, what it is, why it is important and how it can be achieved. Self-Sustainability enables robots to continue to operate beyond disabling events by addressing failure and routine maintenance. Mathematical projections are used to compare populations of non-sustained and sustained robots. Computer modeling experiments are used to demonstrate the feasibility of Self-Sustainability, including extended operational life, the maintenance of optimal work flow and graceful physical degradation (GPD). A detailed explanation is presented of Sustainability Functions, Colony Sites, Static Robot Roles, Static Robot Failure Options, and Polymorphism. The chapter on Self-Management explores LSS research as a mechanism to exert influence over a LSRC. An experimental reactive management strategy is demonstrated. This strategy while limited does indicate promising potential directions for future research including the Man in the Loop (MITL) strategy highly desired by NASA JPL for off world command and control of a significant robot colony (Huntsberger, et. al., 2000). Experiments on Communication evaluate both Broadcast Conveyance (BC) and Message Passing Conveyance (MPC). These experiments demonstrate the potential of Message Passing as a low cost system for LSRC communication. Analysis of Metrics indicates that a Performance Based Feedback Method (PBFM) and a Task Achievement Method (TAM) are both necessary and sufficient to monitor a LSRC. The chapter on Self-Organization describes a number of experiments, algorithms and protocols on Reasoning Robotics, a minor variant of Reactive Robotics. Reasoning Robotics utilizes an Event Driven Architecture (EDA) rather than a Stimulus Driven Architecture (SDA) common to Reactive Robotics. Enhanced robot performance is demonstrated by a combination of EDA and environmental modification enabling stigmergy. These experiments cover Intersection Navigation with contingency for Multilane Intersections, a Radio Packet Controller (RPC) algorithm, Active and Passive Beacons including a communication protocol, mobile robot navigation using Migration Decision Functions (MDF’s), including MDF positional errors. The central issue addressed by this thesis is the production of Self-Reliance guidelines for LSRC’s. Self-Reliance is perceived as a critical issue in advancing the useful and productive applications for LSRC’s. LSRC’s are complex with many issues in related fields of MAS and LSS. Decomposition of Self-Reliance into Self-Sustainability, Self-Management and Self-Organization were used to aid in problem understanding. It was found that Self-Sustainability extends the operational life of individual robots and the LSRC. Self-Management enables the exertion of human influence over the LSRC, such that the ratio of humans to robots is reduced but not eliminated. Self-Organization achieves and enhances performance through a routine and reliable LSRC environment. The product of this research was the novel CARC architecture, which consists of a set of Self-Reliance guidelines and algorithms. The Self-Reliance guidelines manage conflict between optimal solutions and provide a framework for LSRC design. This research was supported by literature, experiments, observations and mathematical projections.
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Engwirda, Anthony. "Self-Reliance Guidelines for Large Scale Robot Colonies". Thesis, Griffith University, 2007. http://hdl.handle.net/10072/368079.

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A Large Scale Robot Colony (LSRC) is a complex artifact comprising of a significant population of both mobile and static robots. LSRC research is in its literary infancy and it is therefore necessary to rely upon external fields for the appropriate framework, Multi Agent Systems (MAS) and Large Scale Systems (LSS). At the intersection of MAS, LSS and LSRC exist near identical issues, problems and solutions. If attention is paid to coherence then solution portability is possible. The issue of Self-Reliability is poorly addressed by the MAS research field. Disparity between the real world and simulation is another area of concern. Despite these deficiencies, MAS and LSS are perceived as the most appropriate frameworks. MAS research focuses on three prime areas, cognitive science, management and interaction. LSRC is focused on Self-Sustainability, Self-Management and Self-Organization. While LSS research was not primarily intended for populations of mobile robots, it does address key issues of LSRC, such as effective sustainability and management. Implementation of LSRC that is based upon the optimal solution for any one or two of the three aspects will be inferior to a coherent solution based upon all three. LSRC’s are complex organizations with significant populations of both static and mobile robots. The increase in population size and the requirement to address the issue of Self-Reliance give rise to new issues. It is no longer sufficient to speak only in terms of robot intelligence, architecture, interaction or team behaviour, even though these are still valid topics. Issues such as population sustainability and management have greater significance within LSRC. As the size of a robot populations increases, minor uneconomical decisions and actions inhibit the performance of the population. Interaction must be made economical within the context of the LSRC. Sustainability of the population becomes significant as it enables stable performance and extended operational lifespan. Management becomes significant as a mechanism to direct the population so as to achieve near optimal performance. The Self-Sustainability, Self-Management and Self-Organization of LSRC are vastly more complex than in team robotics. Performance of the overall population becomes more significant than individual or team achievement. This thesis is a presentation of the Cooperative Autonomous Robot Colony (CARC) architecture. The CARC architecture is novel in that it offers a coherent baseline solution to the issue of mobile robot Self-Reliance. This research uses decomposition as a mechanism to reduce problem complexity. Self-Reliance is decomposed into Self-Sustainability, Self-Management, and Self-Organization. A solution to the issue of Self-Reliance will comprise of conflicting sub-solutions. A product of this research is a set of guidelines that manages the conflict of sub-solutions and maintains a coherent solution. In addressing the issue of Self-Reliance, it became apparent that Economies of Scale, played an important role. The effects of Economies of Scale directed the research towards LSRC’s. LSRC’s demonstrated improved efficiency and greater capability to achieve the requirements of Self-Reliance. LSRC’s implemented with the CARC architecture would extend human capability, enabling large scale operations to be performed in an economical manner, within real world and real time environments, including those of a remote and hostile nature. The theory and architecture are supported using published literature, experiments, observations and mathematical projections. Contributions of this work are focused upon the three pillars of Self-Reliance addressed by CARC: Self-Sustainability, Self-Management and Self-Organization. The chapter on Self-Sustainability explains and justifies the relevance of this issue, what it is, why it is important and how it can be achieved. Self-Sustainability enables robots to continue to operate beyond disabling events by addressing failure and routine maintenance. Mathematical projections are used to compare populations of non-sustained and sustained robots. Computer modeling experiments are used to demonstrate the feasibility of Self-Sustainability, including extended operational life, the maintenance of optimal work flow and graceful physical degradation (GPD). A detailed explanation is presented of Sustainability Functions, Colony Sites, Static Robot Roles, Static Robot Failure Options, and Polymorphism. The chapter on Self-Management explores LSS research as a mechanism to exert influence over a LSRC. An experimental reactive management strategy is demonstrated. This strategy while limited does indicate promising potential directions for future research including the Man in the Loop (MITL) strategy highly desired by NASA JPL for off world command and control of a significant robot colony (Huntsberger, et. al., 2000). Experiments on Communication evaluate both Broadcast Conveyance (BC) and Message Passing Conveyance (MPC). These experiments demonstrate the potential of Message Passing as a low cost system for LSRC communication. Analysis of Metrics indicates that a Performance Based Feedback Method (PBFM) and a Task Achievement Method (TAM) are both necessary and sufficient to monitor a LSRC. The chapter on Self-Organization describes a number of experiments, algorithms and protocols on Reasoning Robotics, a minor variant of Reactive Robotics. Reasoning Robotics utilizes an Event Driven Architecture (EDA) rather than a Stimulus Driven Architecture (SDA) common to Reactive Robotics. Enhanced robot performance is demonstrated by a combination of EDA and environmental modification enabling stigmergy. These experiments cover Intersection Navigation with contingency for Multilane Intersections, a Radio Packet Controller (RPC) algorithm, Active and Passive Beacons including a communication protocol, mobile robot navigation using Migration Decision Functions (MDF’s), including MDF positional errors. The central issue addressed by this thesis is the production of Self-Reliance guidelines for LSRC’s. Self-Reliance is perceived as a critical issue in advancing the useful and productive applications for LSRC’s. LSRC’s are complex with many issues in related fields of MAS and LSS. Decomposition of Self-Reliance into Self-Sustainability, Self-Management and Self-Organization were used to aid in problem understanding. It was found that Self-Sustainability extends the operational life of individual robots and the LSRC. Self-Management enables the exertion of human influence over the LSRC, such that the ratio of humans to robots is reduced but not eliminated. Self-Organization achieves and enhances performance through a routine and reliable LSRC environment. The product of this research was the novel CARC architecture, which consists of a set of Self-Reliance guidelines and algorithms. The Self-Reliance guidelines manage conflict between optimal solutions and provide a framework for LSRC design. This research was supported by literature, experiments, observations and mathematical projections.
Thesis (PhD Doctorate)
Doctor of Philosophy (PhD)
Griffith School of Engineering
Faculty of Engineering and Information Technology
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Obšil, Tomáš. "Návrh dokovací stanice pro mobilní robot". Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2018. http://www.nusl.cz/ntk/nusl-378718.

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The aim of this diploma thesis is design of docking station for an autonomous mobile robot Breach. The task of docking station is to connect this robotic device to power supply without human intervention in order to charge its batteries. The theoretical part of diploma thesis contains research study about autonomous charging of robots. After that it is assessed suitability of using different types of docking stations and it was chosen optimal solution. The practice part of diploma thesis contains design of docking mechanism, which takes account of inaccurate navigation of robot with deviation of several centimeters. One part of this design deals with connector system, which is dimensioned for long-term transmission of electric current with minimal value of 20 A. At the end of diploma thesis there was created 3D model of the complete docking station including connectors for charging in program called SolidWorks.
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Magalhães, André Chaves. "Planejamento cinemático-dinâmico de movimento com desvio local de obstáculos utilizando malhas de estados". Universidade de São Paulo, 2013. http://www.teses.usp.br/teses/disponiveis/18/18153/tde-19072013-105251/.

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Planejamento de movimento tem o propósito de determinar quais movimentos o robô deve realizar para que alcance posições ou configurações desejadas no ambiente sem que ocorram colisões com obstáculos. É comum na robótica móvel simplificar o planejamento de movimento representando o robô pelas coordenadas do seu centro e desconsiderando qualquer restrição cinemática e dinâmica de movimento. Entretanto, a maioria dos robôs móveis possuem restrições cinemáticas não-holonômicas, e para algumas tarefas e robôs, é importante considerar tais restrições juntamente com o modelo dinâmico do robô na tarefa de planejamento. Assim é possível determinar um caminho que possa ser de fato seguido pelo robô. Nesse trabalho é proposto um método de planejamento cinemático-dinâmico que permite planejar trajetórias para robôs móveis usando malhas de estados. Essa abordagem considera a cinemática e a dinâmica do robô para gerar trajetórias possíveis de serem executadas e livre de colisões com obstáculos. Quando obstáculos não representados no mapa são detectados pelos sensores do robô, uma nova trajetória é gerada para desviar desses obstáculos. O planejamento de movimento utilizando malhas de estados foi associado a um algoritmo de desvio de obstáculos baseado no método da janela dinâmica (DWA). Esse método é responsável pelo controle de seguimento de trajetória, garantindo a segurança na realização da tarefa durante a navegação. As trajetórias planejadas foram executadas em duas plataformas distintas. Essas plataformas foram utilizadas em tarefas de navegação em ambientes simulados interno e externo e em ambientes reais. Para navegação em ambientes internos utilizou-se o robô móvel Pioneer 3AT e para navegação em ambientes externos utilizou-se o veículo autônomo elétrico CaRINA 1 que está sendo desenvolvido no ICMC-USP com apoio do Instituto Nacional de Ciência e Tecnologia em Sistemas Embarcados Críticos (INCT-SEC).
Motion planning aims to determine which movements the robot must accomplish to reach a desired position or configuration in the environment without the occurrence of collisions with obstacles. It is common in mobile robotics to simplify the motion planning representing the robot by the coordinates of its center of gravity and ignoring any kinematic and dynamic constraint motion. However, most mobile robots have non-holonomic kinematic constraints, and for some tasks and robots, it is important to consider these constraints together with the dynamic model of the robot in task planning. Thus it is possible to determine a path that can actually be followed by the robot. Here we propose a method for kinematic-dynamic path planning using lattice states. This approach considers the kinematic and dynamic of the robot to generate generate feasible trajectories free of collisions with obstacles. When obstacles not represented on the map are detected by the sensors of the robot, a new trajectory is generated to avoid these obstacles. The motion planning using lattice state was associated with an obstacle avoidance algorithm based on the dynamic window approach (DWA). This method is responsible for trajectory tracking to ensure safety in navigation tasks. This method was applied in two distinct platforms. These platforms were used for navigation tasks in both indoor and outdoor simulated environments, as well as, in real environments. For navigation in indoor environments we used a Pioneer 3AT robot and for outdoor navigation we used the autonomous electric vehicle CaRINA1 being developed at ICMC-USP with support National Institute of Science and Technology in Critical Embedded Systems (INCT-SEC).
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Zaccaria, Federico. "Geometrico-static modelling of continuum parallel robots". Master's thesis, Alma Mater Studiorum - Università di Bologna, 2020.

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In this thesis, we explore three methods for the geometrico-static modelling of continuum parallel robots. Inspired by biological trunks, tentacles and snakes, continuum robot designs can reach confined spaces, manipulate objects in complex environments and conform to curvilinear paths in space. In addition, parallel continuum manipulators have the potential to inherit some of the compactness and compliance of continuum robots while retaining some of the precision, stability and strength of rigid-links parallel robots. Subsequently, the foundation of our work is performed on slender beam by applying the Cosserat rod theory, appropriate to model continuum robots. After that, three different approaches are developed on a case study of a planar parallel continuum robot constituted of two connected flexible links. We solve the forward and inverse geometrico-static problem namely by using (a) shooting methods to obtain a numerical solution, (b) an elliptic method to find a quasi-analytical solution, and (c) the Corde model to perform further model analysis. The performances of each of the studied methods are evaluated and their limits are highlighted. This thesis is divided as follows. Chapter one gives the introduction on the field of the continuum robotics and introduce the parallel continuum robots that is studied in this work. Chapter two describe the geometrico-static problem and gives the mathematical description of this problem. Chapter three explains the numerical approach with the shooting method and chapter four introduce the quasi-analytical solution. Then, Chapter five introduce the analytic method inspired by the Corde model and chapter six gives the conclusions of this work.
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Hähnel, Dirk. "Mapping with mobile robots". [S.l. : s.n.], 2005. http://deposit.ddb.de/cgi-bin/dokserv?idn=974035599.

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Pronobis, Andrzej. "Semantic Mapping with Mobile Robots". Doctoral thesis, KTH, Datorseende och robotik, CVAP, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-34171.

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After decades of unrealistic predictions and expectations, robots have finally escaped from industrial workplaces and made their way into our homes,offices, museums and other public spaces. These service robots are increasingly present in our environments and many believe that it is in the area ofservice and domestic robotics that we will see the largest growth within thenext few years. In order to realize the dream of robot assistants performing human-like tasks together with humans in a seamless fashion, we need toprovide them with the fundamental capability of understanding complex, dynamic and unstructured environments. More importantly, we need to enablethem the sharing of our understanding of space to permit natural cooper-ation. To this end, this thesis addresses the problem of building internalrepresentations of space for artificial mobile agents populated with humanspatial semantics as well as means for inferring that semantics from sensoryinformation. More specifically, an extensible approach to place classificationis introduced and used for mobile robot localization as well as categorizationand extraction of spatial semantic concepts from general place appearance andgeometry. The models can be incrementally adapted to the dynamic changesin the environment and employ efficient ways for cue integration, sensor fu-sion and confidence estimation. In addition, a system and representationalapproach to semantic mapping is presented. The system incorporates and in-tegrates semantic knowledge from multiple sources such as the geometry andgeneral appearance of places, presence of objects, topology of the environmentas well as human input. A conceptual map is designed and used for modelingand reasoning about spatial concepts and their relations to spatial entitiesand their semantic properties. Finally, the semantic mapping algorithm isbuilt into an integrated robotic system and shown to substantially enhancethe performance of the robot on the complex task of active object search. Thepresented evaluations show the effectiveness of the system and its underlyingcomponents and demonstrate applicability to real-world problems in realistichuman settings.
QC 20110527
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Classon, Johan. "Map Building using Mobile Robots". Thesis, KTH, Reglerteknik, 2006. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-107504.

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In this thesis two methods to solve the Simultaneous Localization And Mapping problem are presented. The classical extended Kalman filter is used as a reference from where an efficient particle filter is examined, which uses deterministic samples called sigma points. Most of the effort is put on implementing these algorithms together with the Symmetries and Permutations Model, but a preliminary comparison of the methods has been done as well. Experiments show that linearization errors make the map inaccurate over long periods of time, and methods are discussed which decrease these effects.
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Książki na temat "Mobile and static robots"

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Mobile robots. Englewood, NJ: Technical Insights, 1988.

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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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Designing mobile autonomous robots. Amsterdam: Elsevier Newnes, 2004.

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1970-, Nourbakhsh Illah Reza, i Scaramuzza Davide, red. Introduction to autonomous mobile robots. Wyd. 2. Cambridge, MA: MIT Press, 2011.

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M, Flynn Anita, red. Mobile robots: Inspiration to implementation. Wellesley, Mass: A.K. Peters, 1993.

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

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L, Davies Jessica, i Hall Lily, red. New research on mobile robots. New York: Nova Science Publishers, 2008.

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Nedjah, Nadia, Leandro dos Santos Coelho i Luiza de Macedo Mourelle, red. Mobile Robots: The Evolutionary Approach. Berlin, Heidelberg: Springer Berlin Heidelberg, 2007. http://dx.doi.org/10.1007/978-3-540-49720-2.

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Iagnemma, Karl, i Steven Dubowsky. Mobile Robots in Rough Terrain. Berlin, Heidelberg: Springer Berlin Heidelberg, 2004. http://dx.doi.org/10.1007/b94718.

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

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Części książek na temat "Mobile and static robots"

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Coelho, Leandro dos Santos, Nadia Nedjah i Luiza de Macedo Mourelle. "Differential Evolution Approach Using Chaotic Sequences Applied to Planning of Mobile Robot in a Static Environment with Obstacles". W Mobile Robots: The Evolutionary Approach, 3–22. Berlin, Heidelberg: Springer Berlin Heidelberg, 2007. http://dx.doi.org/10.1007/978-3-540-49720-2_1.

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Chowdhary, Rameez Raja, Manju K. Chattopadhyay i Raj Kamal. "Orchestrator Controlled Navigation of Mobile Robots in a Static Environment". W Lecture Notes in Networks and Systems, 193–206. Singapore: Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-15-3172-9_20.

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Chandrashekhar, A., Shaik Himam Saheb i M. L. Pavan Kishore. "Investigation of the Static and Dynamic Path Planning of Mobile and Aerial Robots". W Computer Networks and Inventive Communication Technologies, 1033–44. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-15-9647-6_82.

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Liu, Ran, i Andreas Zell. "Toward Localizing both Static and Non-static RFID Tags with a Mobile Robot". W Intelligent Autonomous Systems 13, 277–89. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-08338-4_21.

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Lamini, Chaymaa, Said Benhlima i Moulay Ali Bekri. "Collaborative Ant Colony Multi-agent Planning System for Autonomous Mobile Robots in a Static Environment". W Innovations in Smart Cities Applications Volume 5, 249–65. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-030-94191-8_20.

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Terakawa, Tatsuro, i Masaharu Komori. "Static Force Analysis of an Omnidirectional Mobile Robot with Wheels Connected by Passive Sliding Joints". W ROMANSY 23 - Robot Design, Dynamics and Control, 347–54. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-58380-4_42.

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Dahalan, A. A., i A. Saudi. "Self-directed Mobile Robot Path Finding in Static Indoor Environment by Explicit Group Modified AOR Iteration". W Lecture Notes in Electrical Engineering, 27–35. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-33-4597-3_3.

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

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Streszczenia konferencji na temat "Mobile and static robots"

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Del Lama, Rafael S., Raquel M. Candido, Luciana T. Raineri i Renato Tinós. "Evolutionary Optimization of Robust Control Laws for Mobile Robots in Dynamic Environments". W XV Encontro Nacional de Inteligência Artificial e Computacional. Sociedade Brasileira de Computação - SBC, 2018. http://dx.doi.org/10.5753/eniac.2018.4439.

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The problem of controlling mobile robots in dynamic environments is an interesting challenge. This paper investigates the problem of controlling mobile robots in dynamic environments through robust control laws defined by echo state networks (ESN). The output weights of the ESN are optimized by genetic algorithms (GAs). Different GAs developed for optimization in dynamic environments are compared in the problem of searching for robust solutions. Two approaches are investigated: through dynamic evolutionary optimization and robust evolutionary optimization. In the experiments, the GA evolved in the static environment produces good trajectories in environments that resemble the static environment (without obstacles). However, it presents unsatisfactory performance in environments that are very different from the static environment. Both GAs evolved in the dynamic and robust optimization approaches present good results in environments that differ from the static environment.
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Sahebsara, Farid, i Marcio de Queiroz. "Distance-Based Formation Maneuvering of Mobile Robots with Static Obstacles". W 2022 IEEE Conference on Control Technology and Applications (CCTA). IEEE, 2022. http://dx.doi.org/10.1109/ccta49430.2022.9966079.

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Ko, David, Nalaka Kahawatte i Harry H. Cheng. "Controlling Modular Reconfigurable Robots With Handheld Smart Devices". W ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2011. http://dx.doi.org/10.1115/detc2011-48415.

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Highly reconfigurable modular robots face unique teleoperation challenges due to their geometry, configurability, high number of degrees of freedom and complexity. Current methodology for controlling reconfigurable modular robots typically use gait tables to control the modules. Gait tables are static data structures and do not readily support realtime teleoperation. Teleoperation techniques for traditional wheeled, flying, or submerged robots typically use a set of joysticks to control the robots. However, these traditional methods of robot teleoperation are not suitable for reconfigurable modular robotic systems which may have dozens of controllable degrees of freedom. This research shows that modern cell phones serve as highly effective control platforms for modular robots because of their programmability, flexibility, wireless communication capabilities, and increased processing power. As a result of this research, a versatile Graphical User Interface, a set of libraries and tools have been developed which even a novice robotics enthusiast can use to easily program their mobile phones to control their hobby project. These libraries will be beneficial in any situation where it is effective for the operator to use an off-the-shelf, relatively inexpensive, hand-held mobile phone as a remote controller rather than a considerably heavy and bulky remote controllers which are popular today. Several usage examples and experiments are presented which demonstrate the controller’s ability to effectively control a modular robot to perform a series of complex gaits and poses, as well as navigating a module through an obstacle course.
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Arora, Mehul, Louis Wiesmann, Xieyuanli Chen i Cyrill Stachniss. "Mapping the Static Parts of Dynamic Scenes from 3D LiDAR Point Clouds Exploiting Ground Segmentation". W 2021 European Conference on Mobile Robots (ECMR). IEEE, 2021. http://dx.doi.org/10.1109/ecmr50962.2021.9568799.

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Riehl, Nicolas, Marc Gouttefarde, Franc¸ois Pierrot i Ce´dric Baradat. "On the Static Workspace of Large Dimension Cable-Suspended Robots With Non Negligible Cable Mass". W ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/detc2010-28405.

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In most studies on parallel cable-driven robots, cables are supposed to be massless and inextensible. However, in the case of large dimension robots, cable mass and elasticity cannot be neglected anymore. Based on a well-known cable static model which takes these characteristics into account, the formulation of the inverse kinematics of n cable/n-DOF cable-driven robots is presented. The consequences of this modeling on the usual static workspace definition is then discussed. Notably, as the tension in a cable is not constant, the maximal tension along the cable has to be found. An example of a planar 3 cable/3-DOF robot is used to highlight that, in some particular poses, the mobile platform can be in static equilibrium while some cables are hanging below the platform. Finally, new limiting factors for the definition of the static workspace are introduced and applied to the same planar robot example which shows the significance of taking into account cable mass and elasticity.
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Rasheed, Tahir, Philip Long, David Marquez-Gamez i Stéphane Caro. "Optimal Kinematic Redundancy Planning for Planar Mobile Cable-Driven Parallel Robots". W ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/detc2018-86182.

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Mobile Cable-Driven Parallel Robots (MCDPRs) are special type of Reconfigurable Cable Driven Parallel Robots (RCDPRs) with the ability of undergoing an autonomous change in their geometric architecture. MCDPRs consists of a classical Cable-Driven Parallel Robot (CDPR) carried by multiple Mobile Bases (MBs). Generally MCDPRs are kinematically redundant due to the additional mobilities generated by the motion of the MBs. As a consequence, this paper introduces a methodology that aims to determine the best kinematic redundancy scheme of Planar MCDPRs (PMCDPRs) with one degree of kinematic redundancy for pick-and-place operations. This paper also discusses the Static Equilibrium (SE) constraints of the PMCDPR MBs that are needed to be respected during the task. A case study of a PMCDPR with two MBs, four cables and a three degree-of-freedom (DoF) Moving Platform (MP) is considered.
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Garip, Zeynep B., Gokhan Atali, Durmus Karayel i Sinan Serdar Ozkan. "Path Planning for Multiple Mobile Robots in Static Environment using Hybrid Algorithm". W 2018 2nd International Symposium on Multidisciplinary Studies and Innovative Technologies (ISMSIT). IEEE, 2018. http://dx.doi.org/10.1109/ismsit.2018.8567321.

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Heidari, Fatemeh, i Reza Fotouhi. "A Human-Inspired Method for Mobile Robot Navigation". W 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/detc2013-13523.

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A new method for real-time navigation of mobile robots in complex and mostly unstructured environment is presented. This novel human-inspired method (HIM) uses distance-based sensory data from a laser range finder for real-time navigation of a wheeled mobile robot in unknown and cluttered settings. The approach requires no prior knowledge from the environment and is easy to be implemented for real-time navigation of mobile robots. HIM endows the robot a human-like ability for reasoning about the situations to reach a predefined goal point while avoiding static and moving or unforeseen obstacles; this makes the proposed strategy efficient and effective. Results indicate that HIM is capable of creating smooth (no oscillations) paths for safely navigating the mobile robot, and coping with fluctuating and imprecise sensory data from uncertain environment. HIM specifies the best path ahead, according to the situation of encountered obstacles, preventing the robot to get trapped in deadlock and impassable conditions. This deadlock detection and avoidance is a significant ability of HIM. Also, this algorithm is designed to analyze the environment for detecting both negative and positive obstacles in off-road terrain. The simulation and experimental results of HIM is compared with a fuzzy logic based (FLB) approach.
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Li, Qing, Chao Zhang, Caiwei Han, Yinmei Xu, Yixin Yin i Weicun Zhang. "Path planning based on fuzzy logic algorithm for mobile robots in static environment". W 2013 25th Chinese Control and Decision Conference (CCDC). IEEE, 2013. http://dx.doi.org/10.1109/ccdc.2013.6561434.

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Brscic, Draszen, i Hideki Hashimoto. "Map building and object tracking inside Intelligent Spaces using static and mobile sensors". W 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2007. http://dx.doi.org/10.1109/iros.2007.4399582.

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Raporty organizacyjne na temat "Mobile and static robots"

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

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

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

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

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

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Graves, Kevin P. Continuous Localization and Navigation of Mobile Robots. Fort Belvoir, VA: Defense Technical Information Center, maj 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, grudzień 2015. http://dx.doi.org/10.21236/ada635952.

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

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

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

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