Robotics and autonomous systems

Multirobot systems (MRS) are, nowadays, an important research area within robotics and artificial intelligence and a growing number of systems have recently been presented in the literature. Since application domains and tasks that are faced by MRS are of increasing complexity, the ability of the robots to cooperate can be regarded as a fundamental feature. In this paper, we present a survey of the recent work in the area by specifically examining the forms of cooperation and coordination realized in the MRS. In particular, we propose a new taxonomy for classification of the approaches to coordination in MRS and we describe some systems, which we consider representative in our taxonomy. We finally discuss the outcomes of our analysis and try to highlight future trends of the research on MRS.

/pdf/multirobot-systems-a-classification-focused-on-coordination-263wxuffb6.pdf

Multirobot systems: a classification focused on coordination

A Bezier curve based path planning in a multi-agent robot soccer system without violating the acceleration limits

A novel obstacle avoidance algorithm: Follow the Gap Method

This paper presents a 3D path planing algorithm for an unmanned aerial vehicle (UAV) operating in cluttered natural environments. The algorithm satisfies the upper bounded curvature constraint and the continuous curvature requirement. In this work greater attention is placed on the computational complexity in comparison with other path-planning considerations. The rapidly-exploring random trees (RRTs) algorithm is used for the generation of collision free waypoints. The unnecessary waypoints are removed by a simple path pruning algorithm generating a piecewise linear path. Then a path smoothing algorithm utilizing cubic Bezier spiral curves to generate a continuous curvature path that satisfies the minimum radius of curvature constraint of UAV is implemented. The angle between two waypoints is the only information required for the generation of the continuous curvature path. The result shows that the suggested algorithm is simple and easy to implement compared with the Clothoids method.

3D smooth path planning for a UAV in cluttered natural environments

This paper studies the trajectory planning of redundant robots performing tasks within enclosed workspace. Configuration control of kinematically redundant manipulators using pseudo-inverse with null-space projection method is a well-known scheme. A switching objective function is proposed. We modify Liegeois' (1997) joint angle availability objective function so that the midpoints of each joint are switched at a series of pre-specified key path points for the end-effector to achieve. These key path points are planned beforehand according to the geometry of constrained workspace. The trajectory planning problem can then be viewed as a series of proper postures determination problems at key path points. The proper postures are determined using a combination of potential field method and elastic model method, which take into account the joint operating ranges and motion tendency of end-effector. A variable weighting technique to achieve the proper postures effectively is also presented. Simulations of a planar 8-link robot in constrained workspace illustrate the effectiveness of this approach.

An improved trajectory planner for redundant manipulators in constrained workspace

The manipulator with a large degree of redundancy is useful for realizing multiple tasks such as maneuvering the robotic arms in the constrained workspace, e.g. the task of maneuvering the end-effector of the manipulator along a pre-specified path into a window. This paper presents an on-line technique based on a posture generation rule to compute a null-space joint velocity vector in a singularity-robust redundancy resolution method. This rule suggests that the end of each link has to track an implicit trajectory that is indirectly resulted from the constraint imposed on tracking motion of the end-effector. A proper posture can be determined by sequentially optimizing an objective function integrating multiple criteria of the orientation of each link from the end-effector toward the base link as the secondary task for redundancy resolution, by assuming one end of the link is clamped. The criteria flexibly incorporate obstacle avoidance, joint limits, preference of posture in tracking, and connection of posture to realize a compromise between the primary and secondary tasks. Furthermore, computational demanding of the posture is reduced due to the sequential link-by-link computation feature. Simulations show the effectiveness and flexibility of the proposed method in generating proper postures for the collision avoidance and the joint limits as a singularity-robust null-space projection vector in maneuvering redundant robots within constrained workspaces.

/pdf/on-line-multi-criteria-based-collision-free-posture-3le0gfx4wu.pdf

On-line multi-criteria based collision-free posture generation of redundant manipulator in constrained workspace

/pdf/an-improved-trajectory-planner-for-redundant-manipulators-in-2q4ji595vj.pdf

Ball passing is an elementary and frequently employed human soccer skill. This paper examines the realization and visualization of ball passing, a low level move-to-ball behavior of a soccer robot, in a robot soccer game. A case study of three mechanically identical mobile robots with a formation ready to pass a ball cyclically in a zigzag pattern is examined. We build a control command driven mobile robot motion simulator with a controller and dynamics of mobile robots, not only nonholonomic kinematic constraints to simulate the motion of a soccer robot driven by wheels torques to generate wheels accelerations, to update the robot position and orientation at successive time instants. Kick motion follows a physical law, and a simplified collision check and response model is utilized for the efficient detection of the hitting a robot with the ball or other robots. The realization of specific ball passing strategy to drive each soccer robot in a position to receive a pass includes three levels of organization, coordination, and execution: careful integrated design of a dynamic formation and role change scheme, ball position estimation, and coordinated trajectory (i.e. path and velocity) planning and tracking control. Simulations are performed to illustrate the feasibility of the realization of ball passing among three robots, implemented by a software program for coordinated trajectory planning and tracking control in the developed simulator.

https://www.cambridge.org/core/services/aop-cambridge-core/content/view/S0263574703005654

Realization of a ball passing strategy for a robot soccer game: a case study of integrated planning and control

A motion control and the corresponded strategy to realize cyclic ball passing motion in robot soccer games are presented in this paper. By this strategy, multiple mobile robots kick the ball in turn with high speed while adjusting or changing their formation. The ball-kick controller is to drive the robot to an adequate position with a prescribed velocity in a fixed finite time. After kicking the ball, the robot is driven to a suitable position for next ball-passing movement and could accomplish other objectives in robot soccer games. A computer simulation using dynamical model of two-wheeled mobile robot demonstrates the feasibility of this method.

/pdf/motion-controller-realizing-cyclic-ball-passing-strategy-1ghkyzlv58.pdf

Motion controller realizing cyclic ball passing strategy among multiple mobile robots in robot soccer games

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An improved trajectory planner for redundant manipulators in constrained workspace

On-line multi-criteria based collision-free posture generation of redundant manipulator in constrained workspace

An improved trajectory planner for redundant manipulators in constrained workspace

Realization of a ball passing strategy for a robot soccer game: a case study of integrated planning and control

Motion controller realizing cyclic ball passing strategy among multiple mobile robots in robot soccer games