Control Of Multi-robot Systems Research Articles

Color-Coded Light Signals Based Communication for Swarming Behaviors in Mobile Robotic System

Swarm robotics deals with the design, development, and control of multirobot system. The individual agents of the swarm robotics system are simple, with limited capabilities in order to enhance easy scalability of the system. The current researches in swarm robotics are limited due to the complexity of their control and communication system. This paper presents minimobile robots that uses color-coded light signals for communication over short distances and can also communicate over WiFi mesh for global information sharing. Color-coded light-based communication enables the robots to control the directionality and range of communication signals, thus making the communication highly efficient comparing to other conventional communication techniques. The proposed robot design helps the agents to communicate with each other and thereby a swarming behavior emerges from their interaction.

The Energy Efficiency Multi-Robot System and Disinfection Service Robot Development in Large-Scale Complex Environment.

In recent years, multi-robot control systems and service robots equipped with graphical computing have been introduced in various application scenarios. However, the long-term operation of VSLAM calculation leads to reduced energy efficiency of the robot, and accidental localization failure still persists in large-scale fields with dynamic crowds and obstacles. This study proposes an EnergyWise multi-robot system based on ROS that actively determines the activation of VSLAM using real-time fused localization poses by an innovative energy-saving selector algorithm. The service robot is equipped with multiple sensors and utilizes the novel 2-level EKF method and incorporates the UWB global localization mechanism to adapt to complex environments. During the COVID-19 pandemic, three disinfection service robots were deployed to disinfect a large, open, and complex experimental site for 10 days. The results demonstrated that the proposed EnergyWise multi-robot control system successfully achieved a 54% reduction in computing energy consumption during long-term operations while maintaining a localization accuracy of 3 cm.

Design of multi-robot collaborative navigation and control system based on ROS and laser SLAM

Through in-depth research in the current robot field, a design scheme of cooperative navigation and control system for multiple robots based on ROS and laser SLAM is proposed. Compared with a single robot, multi-robot cooperation can improve the operation range and efficiency, and is suitable for more diversified scenarios. The system design includes multi-machine mapping, multi-machine global and local path planning, multi-machine navigation, real-time obstacle avoidance, multi-machine dynamic task assignment. Through the centralized control structure, the robot collects the lidar data in real time to build the map in real time and realizes the integration of multi-machine map building. Then, the path planning algorithm is called to plan the path. Combined with the dynamic task allocation algorithm, the efficiency of multi-robot cooperative operation is maximized and the execution experience is provided for the implementation of other similar projects.

Polygon formation of multiple nonholonomic mobile robots with double-level-control collision avoidance scheme

This paper considers a polygon formation control of multiple robots with nonholonomic constraints enclosing a goal target and double-level-control collision avoidance scheme. Double-level-control scheme consisted of upper-level and lower-level controls are proposed for trajectory generation and tracking control of multi-robot systems. Both upper-level and lower-level controls operate collision avoidance mechanisms based on potential functions. The proposed control scheme guarantees that the group of robots are kept in the polygon formation and driven to a goal, while avoiding collisions during the travel. Moreover, the designed interaction between the upper- and lower-level controls guarantees that the mobile robots are not trapped in local minima or deadlock case. Experiments of the formation of three-robots are conducted to show the performance of the mobile robots in accomplishing a polygon formation while achieving the goal without any collision and no local minima.

Study on Decentralization of Spherical Amphibious Multi-robot Control System Based on Smart Contract and Blockchain

Study on Decentralization of Spherical Amphibious Multi-robot Control System Based on Smart Contract and Blockchain

Multi-Robot based Control System

One of the most important challenge in Robotic Flexible Manufacturing Systems (RFMS) is how to develop a Multi-Robot based control system in which the robot is able to take intelligent decision to a changing environment. The problematic is how to ensure the flexibility with the proposed multi-robot based control system based on triggering strategies. The flexibility of the whole system is expanded by the capacity of the flexible robots to effectively ensure tasks assigned to it. Through this paper, three contributions can be presented: (i) the RFMS based Control Architecture by presenting in details the main components and methods, (ii) the planning model, and (iii) the different levels of flexibility in RFMS.

Three controllers via 2nd-order sliding mode for leader-following formation control of multi-robot systems

Three controllers via 2nd-order sliding mode for leader-following formation control of multi-robot systems

Study on the Autonomous Multirobot Collaborative Control System Based on Spherical Amphibious Robots

The study on the multirobot collaborative control method has broad application prospect and value in the field of robotics. To adapt to a variety of working environments and higher efficiency, this article designed the autonomous multirobot collaborative control system based on spherical amphibious robots. First, this article proposed the formation strategy for spherical amphibious multirobot and used linear quadratic regulator algorithm to adjust the robot trajectory. Then, this article used XBee wireless communication with excellent communication performance under low noise ratio conditions to complete real-time information sharing of multirobot. Finally, based on the theoretical analysis and calculation, a series of land and underwater evaluation experiments were carried out to verify the feasibility of autonomous multirobot collaborative control system. The experimental results showed that the spherical amphibious multirobot could realize collaborative control accurately under different environments according to the predetermined trajectory.

Self-Organization of Multi-Robot System Based on External Stimuli

In modern robotic field, many challenges have been appeared, especially in case of a multi-robot system that used to achieve tasks. The challenges are due to the complexity of the multi-robot system, which make the modeling of such system more difficult. The groups of animals in real world are an inspiration for modeling of a multi-individual system such as aggregation of Artemia. Therefore, in this paper, the multi-robot control system based on external stimuli such as light has been proposed, in which the feature of tracking Artemia to the light has been employed for this purpose. The mathematical model of the proposed design is derived and then Simulated by V-rep software. Several experiments are implemented in order to evaluate the proposed design, which is divided into two scenarios. The first scenario includes simulation of the system in situation of attraction of robot to fixed light spot, while the second scenario is the simulation of the system in the situation of the robots tracking of the movable light spot and formed different patterns like a straight-line, circular, and zigzag patterns. The results of experiments appeared that the mobile robot attraction to high-intensity light, in addition, the multi-robot system can be controlled by external stimuli. Finally, the performance of the proposed system has been analyzed.

Algorithms and models of multirobot systems and their implementation in ROS

Conducting research in the Arctic takes place in extreme conditions. In these conditions, it’s effective to use multirobot systems that can function for days under any weather conditions. The article discusses the basic principles of multirobot control systems. Mathematical models for the formation of control actions of multirobot are obtained. The basic methods for modeling multi-robot systems in ROS are described.

재난환경 자율탐색을 위한 ROS기반 다중로봇 통합 관제 시스템

재난환경 자율탐색을 위한 ROS기반 다중로봇 통합 관제 시스템

A decentralized control of multi-robot system for uniform interval arraignment on the straight line

A decentralized control of multi-robot system for uniform interval arraignment on the straight line

Adaptive coordinated tracking control for multi-robot system with directed communication topology

In this article, an adaptive coordinated tracking control problem for a group of nonholonomic chained systems has been discussed under the assumption that the desired trajectory is available only t...

Heuristics for the Multi-Robot Worst-Case Pursuit-Evasion Problem

There is a growing demand for the use of robots to assist humans in their tasks, especially those involving risks, such as search and rescue. For this reason, coordination among several robots has been a common option, and one of the ways to study and model these applications involves the problem of pursuit evasion. This paper extends the results presented earlier on the use of an evolutionary robotics approach to solve the worst case pursuit-evasion problem, in which evaders are considered arbitrarily fast and omniscient, while pursuers have limited sensing and communication capabilities, with no prior knowledge regarding environments, which are treated as discrete and can be multiply connected. First, a formulation based on random walk is offered. Then, the concept is extended to include a decentralized multi-robot control system based on a finite-state machine with state-action mapping defined by means of a genetic algorithm. Results show that the proposed system is able to decontaminate several types of maps, but does not generalize to all initial conditions, due to the incompleteness in the automaton mapping. Therefore, a complementary approach is presented in which random walk is used alternatively with the evolved automaton, indicating random actions in cases of states not sufficiently visited during evolution. In addition, a comparative analysis of the evolutionary approach and the random walk formulation is also carried out.

Information seeking and model predictive control of a cooperative multi-robot system

In this paper, we propose a cooperative multi-robot control system, operating in an unfamiliar or unstructured environment. We focus on a robust model predictive control (robust-MPC) framework that enables robotic agents to operate in uncertain environments, and study the effect of observation uncertainties that arise from sensor noise on cooperative control performance. The proposed system relies on cooperative observation based on an information-seeking theory, in which the system not only can compensate uncertainty, but also takes actions to mitigate it. We carry out a case study that demonstrates a multi-robot collision avoidance scenario in an unknown environment. Simulation results show that the combination of robust-MPC methods and cooperative observation enables the cooperative multi-robot system to move efficiently and reach the goal faster than an uncooperative scenario.

Interval fuzzy sliding-mode formation controller design

This paper focuses on the design of a formation controller for multi-robot dynamic systems using interval fuzzy sliding-mode algorithm. The objective of formation control is to have all robots simultaneously achieve the tracking task with the desired pattern. An interval fuzzy sliding-mode formation controller is proposed to deal with the formation control of multi-robot systems in which the system uncertainties and measured noise are considered. To reduce the computational complexity of a type-reducer, the end points of a type-reduced centroid are approximated by the outputs of two standard fuzzy sliding mechanisms in the proposed interval fuzzy sliding controller. Simulation results are indicated to show the effectiveness of the proposed interval fuzzy sliding-mode consensus controller.

Distributed Containment Controlfor Multi-robotSystem Based on Binocular VisionandRBF Neural Network

Distributed Containment Controlfor Multi-robotSystem Based on Binocular VisionandRBF Neural Network

Multi-Robot Systems Design and Implementation Based On Psoc5

The direction for the robot toward positioning and navigation, multi-sensor, human-computer interaction, the overall control, network robots, multi-robot and the rapid developing of intelligent technology to improve the limitations of a single robot, designed with intelligent, low power consumption and multi-overall multi-robot control system sensors. Wireless sensor networks, multi-robot technology, multi-sensor technology, human-computer interaction techniques and overall control system on chip technology to CC2530 and PSoC5 for the master core, temperature, humidity, ultrasonic, ambient light and infrared proximity detection, camera and electronic compass and other sensors in real-time environment in which the robot to collect temperature, humidity, distance, light intensity, image, orientation and other information. Af- ter commissioning and field testing the entire system to use, the system is stable, human-computer interaction convenient, reliable communication and information gathering to diversify, to achieve the desired design features and has achieved good results, can be used for civil and industrial intelligent surveillance applications.

Flexible Morphogenesis based Formation Control for Multi-Robot Systems

Flexible Morphogenesis based Formation Control for Multi-Robot Systems

Decentralized Discrete-Time Formation Control for Multirobot Systems

Inspired from the collective behavior of biological entities for the group motion coordination, this paper analyzes the formation control of mobile robots in discrete time where each robot can sense only the position of certain team members and the group behavior is achieved through the local interactions of robots. The main contribution is an original formal proof about the global convergence to the formation pattern represented by an arbitrary Formation Graph using attractive potential functions. The analysis is addressed for the case of omnidirectional robots with numerical simulations.