Group Of Multiple Robots Research Articles

Stability Analysis of Swarm Heterogeneous Robots with Limited Field of View

This paper presents a stability analysis of swarm robots, a group of multiple robots. In particular, we focus on robot swarms with heterogeneous abilities, in which each robot has a different sensing range and physical limitations, including maximum velocity and acceleration. In addition, each robot has a unique sensing region with a limited angle field of view. We previously proposed a decentralized navigation method for such heterogeneous swarm robots consisting of one leader and multiple followers. With the decentralized navigation method, a single leader can navigate for followers while maintaining connectivity and satisfying the physical limitations unique to each robot; i.e., each follower has a target robot and follows it without violating its physical limitations. In this paper, we focus on a stability analysis of such swarm robots. When the leader moves at a constant velocity, we mathematically prove that the shape and orientations of all robots eventually converge to the equilibrium state. For this, we must first prove that the equilibrium state exists. Then, we show the convergence of the state to its equilibrium. Finally, we carry out experiments and numerical simulations to confirm the stability analysis, i.e., the convergence of the swarm robots to the equilibrium states.

«Concurrency» in M-L-Parallel Semi-Markov Process

This article investigates the functioning of a swarm of robots, each of which receives instructions from the external human operator and autonomously executes them. An abstract model of functioning of a robot, a group of robots and multiple groups of robots was obtained using the notion of semi-Markov process. The concepts of aggregated initial and aggregated absorbing states were introduced. Correspondences for calculation of time parameters of concurrency were obtained.

Laser-based geometrical modeling of large-scale architectural structures using co-operative multiple robots

For the construction of 3-D shape models of large-scale architectural structures using laser range finders, a number of range images are taken from different viewpoints around the targets. Next, the obtained images are normally aligned by post-processing procedures, such as the ICP algorithm. However, to obtain convergent results in the ICP algorithm and align these range images to their proper positions, the initial position of each range image needs to be manually aligned to roughly the correct position. This paper proposes a new measurement and modeling system using a group of multiple robots and an on-board laser range finder. Each measurement position is identified by a highly precise positioning technique called the Co-operative Positioning System (CPS), which utilizes the characteristics of the multiple-robot system. Therefore, the proposed system can construct 3-D shapes of large-scale architectural structures without any post-processing procedure or manual intervention. In addition, it is possible to register range images even if the number of measurements is few and there are only a few range images, for example, due to range images containing insufficient feature shapes or overlapping regions. Measurement experiments in unknown and large indoor/outdoor environments including a large hall, a building, an urban district, and a cultural heritage have been successfully carried out using the newly developed measurement system consisting of three mobile robots named CPS-V. Path generation experiments of the mobile robots based on the partially measured 3-D model are also presented.

ＣＰＳ ＳＬＡＭの研究―大規模建造物の高精度三次元幾何形状レーザ計測システム―

In order to construct three-dimensional shape models of large-scale architectural structures using a laser range finder, a number of range images are normally taken from various viewpoints, and these images are aligned using post-processing procedures such as the ICP algorithm. However, in general, before applying the ICP algorithm, these range images must be registered to roughly correct positions by a human operator in order to converge to precise positions. In addition, range images must be made to sufficiently overlap each other by taking dense images from close viewpoints. On the other hand, if the positions of the laser range finder at viewpoints can be identified pre-cisely, local range images can be directly converted to the global coordinate system through a simple transformation calculation. The present paper proposes a new measurement system for large-scale architectural structures using a group of multiple robots and an on-board laser range finder. Each measurement position is identified by a highly precise positioning technique called Cooperative Positioning System (CPS), which utilizes the characteristics of the multiple-robot system. The proposed system can construct 3D shapes of large-scale architectural structures without any post-processing procedure such as the ICP algorithm or dense range measurements. Measurement experiments in unknown and large indoor/outdoor environments are successfully carried out using the newly developed measurement system consisting of three mobile robots named CPS-V.

Coordinating multiple groups of robots for gaiting process

Coordinated robots are categorized into different groups when the coordination involves robot interchange or heterogeneous motion during the manipulation process. We investigated problems related to the control and coordination of multiple groups of robots and developed a general strategy and control algorithm for controlling one group of robots. We developed a method for determining the force distribution among the participating robots in a frictional equilibrium case. The control algorithm and the force determination procedure can be adopted in coordinating multiple groups of robots. Scenarios and restrictions for coordinating two groups of robots in turning a disk continuously are discussed. An example is given to illustrate the gaiting process.