Hybrid Controller based on Null Space and Consensus Algorithms for Mobile Robot Formation

This work presents a novel hybrid control approach based on null space and consensus algorithms to solve the scalability problems of mobile robot formation and improve leader control through multiple control objectives. In previous works, the training of robots based on the null space requires a rigid training structure based on a geometric shape, which increases the number of agents in the formation. The scheme of the control algorithm, which does not make formation scalability possible, must be changed; therefore, seeking the scalability of training based on null space is a challenge that could be solved with the inclusion of consensus algorithms, which allow the control structure to be maintained despite increasing or decreasing the number of robot followers. Another advantage of this proposal is that the formation of the followers does not depend on any geometric figure compared to previous works based on the null space; this new proposal does not present singularities as if the structure is based on geometric shape, the latter one is crucial since the formation of agents can take forms that cannot be achieved with a geometric structure, such as collinear locations, that can occur in many environments. The proposed hybrid control approach presents three tasks: i) leader position task, ii) leader shape task, and iii) follower formation task. The proposed algorithm is validated through simulations, performing tests that use the kinematic model of non-holonomic mobile robots. In addition, linear algebra and Lyapunov theory are used to analyze the stability of the method. Doi: 10.28991/ESJ-2022-06-03-01 Full Text: PD

Modelling of Autonomous Search and Rescue Missions by Interval-Valued Neutrosophic WASPAS Framework

The application of autonomous robots in search and rescue missions represents a complex task which requires a robot to make robust decisions in unknown and dangerous environments. However, imprecise robot movements and small measurement errors obtained by robot sensors can have an impact on the autonomous environment exploration quality, and therefore, should be addressed while designing search and rescue (SAR) robots. In this paper, a novel frontier evaluation strategy is proposed, that address technical, economic, social, and environmental factors of the sustainable environment exploration process, and a new extension of the weighted aggregated sum product assessment (WASPAS) method, modelled under interval-valued neutrosophic sets (IVNS), is introduced for autonomous mobile robots. The general-purpose Pioneer 3-AT robot platform is applied in simulated search and rescue missions, and the conducted experimental assessment shows the proposed method efficiency in commercial and public-type building exploration. By addressing the estimated measurement errors in the initial data obtained by the robot sensors, the proposed decision-making framework provides additional reliability for comparing and ranking candidate frontiers. The interval-valued multi-criteria decision-making method combined with the proposed frontier evaluation strategy enables the robot to exhaustively explore and map smaller SAR mission environments as well as ensure robot safety and efficient energy consumption in relatively larger public-type building environments.This article belongs to the Special Issue Multi-Criteria Decision-Making Techniques for Improvement Sustainability Engineering Processe

Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021

This Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics. The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI)