Communication Between Khepera Mini Robots For Cooperative Positioning

Grünewald M, Iske B, Klahold J, et al. Communication Between Khepera Mini Robots For Cooperative Positioning. In: Proceedings of the International Conference Automatics and Informatics’03. Vol 1. Sofia, Bulgaria; 2003: 95-98

A PATH PLANNING METHOD FOR AUTONOMOUS MOBILE ROBOTS

Mobile robots often find themselves in a situation where they must find a trajectory to another position in their environment, subject to constraints posed by obstacles and the capabilities of the robot itself. This is the problem of planning a path through a continuous domain, for which several approaches have been developed. A method for autonomous mobile robot path planning is presented. Initially, the environment model, given as a closed chain of polygonal obstacles, is transformed into a visibility graph of obstacle vertices with a minimum number of links. An additional visibility graph of obstacle is formed simultaneously. The given initial point and destination point are presented as obstacles with a single vertex and are added to the determined graphs as vertices and as obstacles correspondingly. The extended graphs are updated and in the first step a shortest path from initial point to destination point through the obstacles is searching for. By this method a subset of obstacles is selected. On this basis from the visibility graph of obstacle vertices a sub-graph is detached, containing only the vertices of obstacles, belonging to the selected subset. We search the detached sub-graph to find the shortest path between the given points. For determination of the visible obstacle vertices a fuzzy logic algorithm is implemented I

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GENERAL CHARACTERISTICS OF THE DISSERTATIO

Gard – An Intelligent System for Distributed Exploration of Landmine Fields Simulated by a Team of Khepera Robots

Manolov O, Iske B, Noykov S, et al. Gard – An Intelligent System for Distributed Exploration of Landmine Fields Simulated by a Team of Khepera Robots. In: Proceedings of the International Conference Automatics and Informatics’03. Vol 1. Sofia, Bulgaria; 2003: 199-202

Gard – An Intelligent System for Distributed Exploration of Landmine Fields Simulated by a Team of Khepera Robots

Manolov O, Iske B, Noykov S, et al. Gard – An Intelligent System for Distributed Exploration of Landmine Fields Simulated by a Team of Khepera Robots. In: Proceedings of the International Conference Automatics and Informatics’03. Vol 1. Sofia, Bulgaria; 2003: 199-202

Cooperating autonomous and mobile minirobots in dynamic environments

Witkowski U, Chinapirom T, Du JL, Rückert U, Manolov O. Cooperating autonomous and mobile minirobots in dynamic environments. In: International Federation of Automatic Control – IFAC – DECOM-TT. Bansko, Bulgaria; 2004

Fuzzy Logic Based Intelligent Motion Control of Robots Swarm Simulated by Khepera Robots

Minchev Z, Manolov O, Noykov S, Witkowski U, Rückert U. Fuzzy Logic Based Intelligent Motion Control of Robots Swarm Simulated by Khepera Robots. In: IEEE Instrumentation and Measurement Society, ed. IEEE International Conference on Intelligent Systems. Piscataway, NJ: IEEE; 2004: 305-310.The coordination of intelligent behavior among the swarm of autonomous agents and the contrivance of intcrrelntions between the collections are the sine quo non of the Multi-agent Systems (MAS). The .metamorphic robotic systems are a new and rather perspective sphere of robotics because of the different and useful applications. These selfreconliguring robotic systems could be described BS MAS. The metamorphic robots could he considered as B collection’of identical modules and each unit has the ahility to connect, disconnect, climb over its near neighbors or to move independently. The leading scope of this issue is the implementation of Intuitionistic Fuzzy Sets (IFS) in MAS for synthesis of useful technique for optimization. The technique is applied in the strategy for investigation of unknown environment with swarm of Khepera robots