10,745 research outputs found
Robotic Wireless Sensor Networks
In this chapter, we present a literature survey of an emerging, cutting-edge,
and multi-disciplinary field of research at the intersection of Robotics and
Wireless Sensor Networks (WSN) which we refer to as Robotic Wireless Sensor
Networks (RWSN). We define a RWSN as an autonomous networked multi-robot system
that aims to achieve certain sensing goals while meeting and maintaining
certain communication performance requirements, through cooperative control,
learning and adaptation. While both of the component areas, i.e., Robotics and
WSN, are very well-known and well-explored, there exist a whole set of new
opportunities and research directions at the intersection of these two fields
which are relatively or even completely unexplored. One such example would be
the use of a set of robotic routers to set up a temporary communication path
between a sender and a receiver that uses the controlled mobility to the
advantage of packet routing. We find that there exist only a limited number of
articles to be directly categorized as RWSN related works whereas there exist a
range of articles in the robotics and the WSN literature that are also relevant
to this new field of research. To connect the dots, we first identify the core
problems and research trends related to RWSN such as connectivity,
localization, routing, and robust flow of information. Next, we classify the
existing research on RWSN as well as the relevant state-of-the-arts from
robotics and WSN community according to the problems and trends identified in
the first step. Lastly, we analyze what is missing in the existing literature,
and identify topics that require more research attention in the future
A Passivity-Based Distributed Reference Governor for Constrained Robotic Networks
This paper focuses on a passivity-based distributed reference governor (RG)
applied to a pre-stabilized mobile robotic network. The novelty of this paper
lies in the method used to solve the RG problem, where a passivity-based
distributed optimization scheme is proposed. In particular, the gradient
descent method minimizes the global objective function while the dual ascent
method maximizes the Hamiltonian. To make the agents converge to the agreed
optimal solution, a proportional-integral consensus estimator is used. This
paper proves the convergence of the state estimates of the RG to the optimal
solution through passivity arguments, considering the physical system static.
Then, the effectiveness of the scheme considering the dynamics of the physical
system is demonstrated through simulations and experiments.Comment: 8 pages, International Federation of Automatic Conference 2017, 8
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Managing a Fleet of Autonomous Mobile Robots (AMR) using Cloud Robotics Platform
In this paper, we provide details of implementing a system for managing a
fleet of autonomous mobile robots (AMR) operating in a factory or a warehouse
premise. While the robots are themselves autonomous in its motion and obstacle
avoidance capability, the target destination for each robot is provided by a
global planner. The global planner and the ground vehicles (robots) constitute
a multi agent system (MAS) which communicate with each other over a wireless
network. Three different approaches are explored for implementation. The first
two approaches make use of the distributed computing based Networked Robotics
architecture and communication framework of Robot Operating System (ROS) itself
while the third approach uses Rapyuta Cloud Robotics framework for this
implementation. The comparative performance of these approaches are analyzed
through simulation as well as real world experiment with actual robots. These
analyses provide an in-depth understanding of the inner working of the Cloud
Robotics Platform in contrast to the usual ROS framework. The insight gained
through this exercise will be valuable for students as well as practicing
engineers interested in implementing similar systems else where. In the
process, we also identify few critical limitations of the current Rapyuta
platform and provide suggestions to overcome them.Comment: 14 pages, 15 figures, journal pape
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