8,639 research outputs found
Multirobot heterogeneous control considering secondary objectives
Cooperative robotics has considered tasks that are executed frequently, maintaining the
shape and orientation of robotic systems when they fulfill a common objective, without taking
advantage of the redundancy that the robotic group could present. This paper presents a proposal
for controlling a group of terrestrial robots with heterogeneous characteristics, considering primary
and secondary tasks thus that the group complies with the following of a path while modifying its
shape and orientation at any time. The development of the proposal is achieved through the use
of controllers based on linear algebra, propounding a low computational cost and high scalability
algorithm. Likewise, the stability of the controller is analyzed to know the required features that have
to be met by the control constants, that is, the correct values. Finally, experimental results are shown
with di erent configurations and heterogeneous robots, where the graphics corroborate the expected
operation of the proposalThis research was funded by Corporación Ecuatoriana para el Desarrollo de la Investigación
y Academia–CEDI
Robot swarming applications
This paper discusses the different modes of operation of a swarm of robots: (i) non-communicative swarming, (ii) communicative swarming, (iii) networking, (iv) olfactory-based navigation and (v) assistive swarming. I briefly present the state of the art in swarming and outline the major techniques applied for each mode of operation and discuss the related problems and expected results
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