Journal ArticleDOI
Coordination control of wheeled mobile robots a hybrid approach
TLDR
A novel modelling and a hybrid formation control approach for the autonomous navigation for group of mobile robots in a specified formation is proposed and the performance of the approach is analysed through simulations.Abstract:
In this paper, a novel modelling and a hybrid formation control approach for the autonomous navigation for group of mobile robots in a specified formation is proposed. The hybrid approach consists of layered behaviour based control architecture with the behaviours classified into two levels. The supervisor level in the architecture handles the high-level missions such as formation and interobot communication, and the lower level deals with the dynamic control of the robots when navigating in the environment. The switching between the formation and the navigation is done based on the local information and the assigned role of the robots in the group. A modelling framework is also presented in this paper, where the individual behaviours of the hybrid formation control approach are modelled as temporal states and the performance of the approach is analysed through simulations. Experimental investigations have also been performed by using two commercially available robot research platforms. The results obtained are presented and discussed.read more
Citations
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Journal ArticleDOI
Review on state-of-the-art dynamic task allocation strategies for multiple-robot systems
TL;DR: A comprehensive review on the variant state-of-the-art dynamic task allocation strategies and incites the salient research directions to the researchers in multi-robotynamic task allocation problems is provided.
Journal ArticleDOI
Autonomous leader-follower formation control of non-holonomic wheeled mobile robots by incremental path planning and sliding mode augmented tracking control
TL;DR: This paper presents a novel robust and autonomous formation control scheme for wheeled mobile robots in the leader-follower formation control framework considering their non-holonomic constraints, and the effectiveness of the proposed control law has been established by simulation studies.
Journal ArticleDOI
Home security surveillance system using multi-robot system
TL;DR: This paper presents a home security surveillance system that increases home safety through continuous scanning and monitoring of home environment through FireBird-IV robots, Lego-Mindstorms-NXT robots (NXT), a computer and wireless-G cameras.
Design, Development and Investigation on an Embedded System based Control for Networking Mobile Robots
TL;DR: This paper makes a survey on the present developmental status and details the design features of networking mobile robots using embedded system based control, intended to use this work as basis for future research work in the area of cooperative behavior of mobile robots.
Proceedings ArticleDOI
Interpersonal synchrony-based dynamic stabilization of the gait rhythm between human and virtual robot — Clinical application to festinating gait of Parkinson's disease patient
Hirotaka Uchitomi,Kazuki Suzuki,Tatsunori Nishi,Michael J. Hove,Y. Wada,Satoshi Orimo,Yoshihiro Miyake +6 more
TL;DR: The results showed that the festinating gait, evaluated by stride time reduction rate, significantly stabilized and accelerated less with Walk-Mate compared to unassisted walking, suggesting that gait with PD was dynamically stabilized by the interpersonal synchrony process between timing of human's gait and of external auditory cues.
References
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Book
A robust layered control system for a mobile robot
TL;DR: A new architecture for controlling mobile robots is described, building a robust and flexible robot control system that has been used to control a mobile robot wandering around unconstrained laboratory areas and computer machine rooms.
Journal ArticleDOI
A robust layered control system for a mobile robot
TL;DR: In this paper, a new architecture for controlling mobile robots is described, which is made up of asynchronous modules that communicate over low-bandwidth channels, each module is an instance of a fairly simple computational machine.
Journal ArticleDOI
Behavior-based formation control for multirobot teams
Tucker Balch,Ronald C. Arkin +1 more
TL;DR: New reactive behaviors that implement formations in multirobot teams are presented and evaluated and demonstrate the value of various types of formations in autonomous, human-led and communications-restricted applications, and their appropriateness in different types of task environments.
Journal ArticleDOI
A decentralized approach to formation maneuvers
TL;DR: Hardware results demonstrate the effectiveness of the proposed formation control strategies, which injects interrobot damping via passivity techniques and accounts for actuator saturation.
Journal ArticleDOI
Behaviour-based control: examples from navigation, learning, and group behaviour
TL;DR: Different approaches to designing and using behaviours as basic units for control, representation, and learning are illustrated on three empirical examples of robots performing navigation and path-finding, group behaviours, andlearning behaviour selection.