175 research outputs found
Formation of Multiple Groups of Mobile Robots Using Sliding Mode Control
Formation control of multiple groups of agents finds application in large
area navigation by generating different geometric patterns and shapes, and also
in carrying large objects. In this paper, Centroid Based Transformation (CBT)
\cite{c39}, has been applied to decompose the combined dynamics of wheeled
mobile robots (WMRs) into three subsystems: intra and inter group shape
dynamics, and the dynamics of the centroid. Separate controllers have been
designed for each subsystem. The gains of the controllers are such chosen that
the overall system becomes singularly perturbed system. Then sliding mode
controllers are designed on the singularly perturbed system to drive the
subsystems on sliding surfaces in finite time. Negative gradient of a potential
based function has been added to the sliding surface to ensure collision
avoidance among the robots in finite time. The efficacy of the proposed
controller is established through simulation results.Comment: 8 pages, 5 figure
On the use of chaotic dynamics for mobile network design and analysis: towards a trace data generator
With the constant increase of the number of autonomous vehicles and connected
objects, tools to understand and reproduce their mobility models are required.
We focus on chaotic dynamics and review their applications in the design of
mobility models. We also provide a review of the nonlinear tools used to
characterize mobility models, as it can be found in the literature. Finally, we
propose a method to generate traces for a given scenario involving moving
people, using tools from the nonlinear analysis domain usually dedicated to
topological analysis of chaotic attractors.Comment: 22 pages, 7 figures, to be published in Journal of Difference
Equations and Application
Decentralized Collision-Free Control of Multiple Robots in 2D and 3D Spaces
Decentralized control of robots has attracted huge research interests.
However, some of the research used unrealistic assumptions without collision
avoidance. This report focuses on the collision-free control for multiple
robots in both complete coverage and search tasks in 2D and 3D areas which are
arbitrary unknown. All algorithms are decentralized as robots have limited
abilities and they are mathematically proved.
The report starts with the grid selection in the two tasks. Grid patterns
simplify the representation of the area and robots only need to move straightly
between neighbor vertices. For the 100% complete 2D coverage, the equilateral
triangular grid is proposed. For the complete coverage ignoring the boundary
effect, the grid with the fewest vertices is calculated in every situation for
both 2D and 3D areas.
The second part is for the complete coverage in 2D and 3D areas. A
decentralized collision-free algorithm with the above selected grid is
presented driving robots to sections which are furthest from the reference
point. The area can be static or expanding, and the algorithm is simulated in
MATLAB.
Thirdly, three grid-based decentralized random algorithms with collision
avoidance are provided to search targets in 2D or 3D areas. The number of
targets can be known or unknown. In the first algorithm, robots choose vacant
neighbors randomly with priorities on unvisited ones while the second one adds
the repulsive force to disperse robots if they are close. In the third
algorithm, if surrounded by visited vertices, the robot will use the
breadth-first search algorithm to go to one of the nearest unvisited vertices
via the grid. The second search algorithm is verified on Pioneer 3-DX robots.
The general way to generate the formula to estimate the search time is
demonstrated. Algorithms are compared with five other algorithms in MATLAB to
show their effectiveness
Evolutionary Computation
This book presents several recent advances on Evolutionary Computation, specially evolution-based optimization methods and hybrid algorithms for several applications, from optimization and learning to pattern recognition and bioinformatics. This book also presents new algorithms based on several analogies and metafores, where one of them is based on philosophy, specifically on the philosophy of praxis and dialectics. In this book it is also presented interesting applications on bioinformatics, specially the use of particle swarms to discover gene expression patterns in DNA microarrays. Therefore, this book features representative work on the field of evolutionary computation and applied sciences. The intended audience is graduate, undergraduate, researchers, and anyone who wishes to become familiar with the latest research work on this field
Recent Advances in Multi Robot Systems
To design a team of robots which is able to perform given tasks is a great concern of many members of robotics community. There are many problems left to be solved in order to have the fully functional robot team. Robotics community is trying hard to solve such problems (navigation, task allocation, communication, adaptation, control, ...). This book represents the contributions of the top researchers in this field and will serve as a valuable tool for professionals in this interdisciplinary field. It is focused on the challenging issues of team architectures, vehicle learning and adaptation, heterogeneous group control and cooperation, task selection, dynamic autonomy, mixed initiative, and human and robot team interaction. The book consists of 16 chapters introducing both basic research and advanced developments. Topics covered include kinematics, dynamic analysis, accuracy, optimization design, modelling, simulation and control of multi robot systems
AN IMPROVED BARE-BONES PARTICLE SWARM ALGORITHM FOR MULTI-OBJECTIVE OPTIMIZATION WITH APPLICATION TO THE ENGINEERING STRUCTURES
In this paper, an improved bare-bones multi-objective particle swarm algorithm is proposed to solve the multi-objective size optimization problems with non-linearity and constraints in structural design and optimization. Firstly, the development of particle individual guide and the randomness of gravity factor are increased by modifying the updated form of particle position. Then, the combination of spatial grid density and congestion distance ranking is used to maintain the external archive, which is divided into two parts: feasible solution set and infeasible solution set. Next, the global best positions are determined by increasing the probability allocation strategy which varies with time. The algorithmic complexity is given and the performance of solution ability, convergence and constraint processing are analyzed through standard test functions and compared with other algorithms. Next, as a case study, a support frame of triangle track wheel is optimized by the BB-MOPSO and improved BB-MOPSO. The results show that the improved algorithm improves the cross-region exploration, optimal solution distribution and convergence of the bare-bones particle swarm optimization algorithm, which can effectively solve the multi-objective size optimization problem with non-linearity and constraints
SciTech News Volume 71, No. 2 (2017)
Columns and Reports From the Editor 3
Division News Science-Technology Division 5 Chemistry Division 8 Engineering Division 9 Aerospace Section of the Engineering Division 12 Architecture, Building Engineering, Construction and Design Section of the Engineering Division 14
Reviews Sci-Tech Book News Reviews 16
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