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Journal articles on the topic 'Autonomous robots systems'
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1
Siefke, Lennart, Volker Sommer, Björn Wudka, and Carsten Thomas. "Robotic Systems of Systems Based on a Decentralized Service-Oriented Architecture." Robotics 9, no. 4 (2020): 78. http://dx.doi.org/10.3390/robotics9040078.
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Multi-robot systems are often static and pre-configured during the design time of their software. Emerging cooperation between unknown robots is still rare and limited. Such cooperation might be basic like sharing sensor data or complex like conjoined motion planning and acting. Robots should be able to detect other robots and their abilities during runtime. When cooperation seems to be possible and beneficial, it should be initiated autonomously. A centralized cloud control shall be avoided. Using software patterns belonging to service-oriented architectures, the robots are able to discover other robots and their abilities during runtime. These abilities are implemented as services and described by their interfaces. Composition of services can be done easily and flexibly. The software patterns originally belonging to cloud computing could be successfully adopted to decentralized multi-robot systems. The developed concept allows autonomous systems to cooperate flexibly and to compose multi-robot systems during runtime.
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Zghair, Noor Abdul Khaleq, and Ahmed S. Al-Araji. "A one decade survey of autonomous mobile robot systems." International Journal of Electrical and Computer Engineering (IJECE) 11, no. 6 (2021): 4891. http://dx.doi.org/10.11591/ijece.v11i6.pp4891-4906.
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<span lang="EN-US">Recently, autonomous mobile robots have gained popularity in the modern world due to their relevance technology and application in real world situations. The global market for mobile robots will grow significantly over the next 20 years. Autonomous mobile robots are found in many fields including institutions, industry, business, hospitals, agriculture as well as private households for the purpose of improving day-to-day activities and services. The development of technology has increased in the requirements for mobile robots because of the services and tasks provided by them, like rescue and research operations, surveillance, carry heavy objects and so on. Researchers have conducted many works on the importance of robots, their uses, and problems. This article aims to analyze the control system of mobile robots and the way robots have the ability of moving in real-world to achieve their goals. It should be noted that there are several technological directions in a mobile robot industry. It must be observed and integrated so that the robot functions properly: Navigation systems, localization systems, detection systems (sensors) along with motion and kinematics and dynamics systems. All such systems should be united through a control unit; thus, the mission or work of mobile robots are conducted with reliability.</span>
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Akai, Naoki, Yasunari Kakigi, Shogo Yoneyama, and Koichi Ozaki. "Development of Autonomous Mobile Robot that Can Navigate in Rainy Situations." Journal of Robotics and Mechatronics 28, no. 4 (2016): 441–50. http://dx.doi.org/10.20965/jrm.2016.p0441.
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[abstFig src='/00280004/02.jpg' width='300' text='Navigation under strong rainy condition' ] The Real World Robot Challenge (RWRC), a technical challenge for mobile outdoor robots, has robots automatically navigate a predetermined path over 1 km with the objective of detecting specific persons. RWRC 2015 was conducted in the rain and every robot could not complete the mission. This was because sensors on the robots detected raindrops and the robots then generated unexpected behavior, indicating the need to study the influence of rain on mobile navigation systems – a study clearly not yet sufficient. We begin by describing our robot’s waterproofing function, followed by investigating the influence of rain on the external sensors commonly used in mobile robot navigation and discuss how the robot navigates autonomous in the rain. We conducted navigation experiments in artificial and actual rainy environments and those results showed that the robot navigates stably in the rain.
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Yasuda, Gen'ichi. "Design and Implementation of Distributed Autonomous Coordinators for Cooperative Multi-Robot Systems." International Journal of System Dynamics Applications 5, no. 4 (2016): 1–15. http://dx.doi.org/10.4018/ijsda.2016100101.
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The paper presents a systematic method of the design of cooperative task planning and execution for complex robotic systems using multiple robots. Because individual robots can autonomously execute their dedicated tasks, in cooperative multi-robot systems, robotic activities should be designed as discrete event driven asynchronous, concurrent processes. Further, since robotic activities are hierarchically defined, control requirements should be specified in a proper and consistent manner on different levels of control abstraction. In this paper, Petri nets are adopted as a specification tool for task planning and execution by multiple robots. Based on place/transition Petri nets, control conditions for inter-robot cooperation with synchronized interaction are represented, and control rules to achieve distributed autonomous coordinated activities with synchronous and asynchronous communication are proposed. An implementation of net based control software on hierarchical and distributed architecture is presented for an example multi-robot cell, where the higher-level controller executes a global net model of task plan representing cooperative behaviors performed by the robots, and the parallel activities of the individual robots are synchronized through the transmission of requests and the reception of status between the associated lower-level local controllers.
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Wanasinghe, Thumeera R., George K. I. Mann, and Raymond G. Gosine. "Decentralized Cooperative Localization Approach for Autonomous Multirobot Systems." Journal of Robotics 2016 (2016): 1–18. http://dx.doi.org/10.1155/2016/2560573.
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This study proposes the use of a split covariance intersection algorithm (Split-CI) for decentralized multirobot cooperative localization. In the proposed method, each robot maintains a local cubature Kalman filter to estimate its own pose in a predefined coordinate frame. When a robot receives pose information from neighbouring robots, it employs a Split-CI based approach to fuse this received measurement with its local belief. The computational and communicative complexities of the proposed algorithm increase linearly with the number of robots in the multirobot systems (MRS). The proposed method does not require fully connected synchronous communication channels between robots; in fact, it is applicable for MRS with asynchronous and partially connected communication networks. The pose estimation error of the proposed method is bounded. As the proposed method is capable of handling independent and interdependent information of the estimations separately, it does not generate overconfidence state estimations. The performance of the proposed method is compared with several multirobot localization approaches. The simulation and experiment results demonstrate that the proposed algorithm outperforms the single-robot localization algorithms and achieves approximately the same estimation accuracy as the centralized cooperative localization approach, but with reduced computational and communicative cost.
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Agah, Arvin, and George A. Bekey. "Efficiency Assessment of Performance of Decentralized Autonomous Multi-Robot Systems." Journal of Robotics and Mechatronics 8, no. 3 (1996): 286–91. http://dx.doi.org/10.20965/jrm.1996.p0286.
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This paper presents a new methodology for the efficiency assessment of task performance of decentralized autonomous multi-robot system. This formulation considers the types of the robots (in terms of sensing, action, and control), the description of the environment (the world), the facts (rules) of the world, and the specifications of the tasks to be performed. The performance efficiency is defined in terms of the total time required for completing the task, total energy requirement, and the comparison of the final results and the desired results. A robot colony simulator was used to perform a number of experiments, measuring the task performance efficiency, of a colony of simulated robots which perform specific tasks in a virtual world. The experimental results are presented in this paper. This paper also describes a team of four robots designed and fabricated in hardware. The physical robots were used successfully to validate the results from the simulated colony.
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Rodriguez y Baena, Ferdinando, and Brian Davies. "Robotic surgery: from autonomous systems to intelligent tools." Robotica 28, no. 2 (2009): 163–70. http://dx.doi.org/10.1017/s0263574709990427.
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SUMMARYA brief history of robotic surgery is provided, which describes the transition from autonomous robots to hands-on systems that are under the direct control of the surgeon. An example of the latter is the Acrobot (for active-constraint robot) system used in orthopaedics, whilst soft-tissue surgery is illustrated by the daVinci telemanipulator system. Non-technological aspects of robotic surgery have often been a major impediment to their widespread clinical use. These are discussed in detail, together with the role of navigation systems, which are considered a major competitor to surgical robots. A detailed description is then given of a registration method for robots to achieve improved accuracy. Registration is a major source of error in robotic surgery, particularly in orthopaedics. The paper describes the design and clinical implementation of a novel method, coined the bounded registration method, applied to minimally invasive registration of the femur. Results of simulations which compare the performance of bounded registration with a standard implementation of the iterative closest point algorithm are also presented, alongside a description of their application in the Acrobot hands-on robot, used clinically for uni-condylar knee arthroplasty.
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Uchiyama, Naoki, Shigenori Sano, and Akihiro Yamamoto. "Sound source tracking considering obstacle avoidance for a mobile robot." Robotica 28, no. 7 (2010): 1057–64. http://dx.doi.org/10.1017/s0263574709990919.
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SUMMARYSound source tracking is an important function for autonomous robots, because sound is omni-directional and can be recognized in dark environment. This paper presents a new approach to sound source tracking for mobile robots using auditory sensors. We consider a general type of two-wheeled mobile robot that has wide industrial applications. Because obstacle avoidance is also an indispensable function for autonomous mobile robots, the robot is equipped with distance sensors to detect obstacles in real time. To deal with the robot's nonholonomic constraint and combine information from the auditory and distance sensors, we propose a model reference control approach in which the robot follows a desired trajectory generated by a reference model. The effectiveness of the proposed method is confirmed by experiments in which the robot is expected to approach a sound source while avoiding obstacles.
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Ziemke, Tom. "Understanding robots." Science Robotics 5, no. 46 (2020): eabe2987. http://dx.doi.org/10.1126/scirobotics.abe2987.
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Elucidating the neural and psychological mechanisms underlying people’s interpretation of robot behavior can inform the design of interactive autonomous systems, such as social robots and automated vehicles.
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Tokunaga, Shinya, Chinthaka Premachandra, H. Waruna H. Premachandra, Hiroharu Kawanaka, Sagara Sumathipala, and B. S. Sudantha. "Autonomous Spiral Motion by a Small-Type Robot on an Obstacle-Available Surface." Micromachines 12, no. 4 (2021): 375. http://dx.doi.org/10.3390/mi12040375.
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Several robot-related studies have been conducted in recent years; however, studies on the autonomous travel of small mobile robots in small spaces are lacking. In this study, we investigate the development of autonomous travel for small robots that need to travel and cover the entire smooth surface, such as those employed for cleaning tables or solar panels. We consider an obstacle-available surface and target this travel on it by proposing a spiral motion method. To achieve the spiral motion, we focus on developing autonomous avoidance of obstacles, return to original path, and fall prevention when robots traverse a surface. The development of regular travel by a robot without an encoder is an important feature of this study. The traveled distance was measured using the traveling time. We achieved spiral motion by analyzing the data from multiple small sensors installed on the robot by introducing a new attitude-control method, and we ensured that the robot returned to the original spiral path autonomously after avoiding obstacles and without falling over the edge of the surface.
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López, Joaquín, Rafael Sanz, Miguel D. Cacho, and Amador R. Diéguez. "Increasing wireless reliability for autonomous mobile robots." Robotica 31, no. 3 (2012): 405–16. http://dx.doi.org/10.1017/s0263574712000422.
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SUMMARYThere is an increasing popularity of mobile robot applications over the Internet. Robots need some kind of wireless communication to receive commands and transmit information to users. This paper describes the problems encountered to keep the mobile robots connected and the solutions adopted. The first problem was related to delays and the very low throughput that occur when the robot roams to a new access point. Most commercial systems currently installed implement proprietary solutions with different behaviors. Here, a simple and device-independent solution for mobile robot applications is proposed. The second problem is the lack of wireless coverage in some areas of buildings. The solutions adopted for these problems are based on coverage maps.
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Zhang, Huan, and Pubudu N. Pathirana. "Optimization-based formation of autonomous mobile robots." Robotica 29, no. 4 (2010): 515–25. http://dx.doi.org/10.1017/s0263574710000366.
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SUMMARYThe formation of autonomous mobile robots to an arbitrary geometric pattern in a distributed fashion is a fundamental problem in formation control. This paper presents a new asynchronous, memoryless (oblivious) algorithm to the formation problem via distributed optimization techniques. The optimization minimizes an appropriately defined difference function between the current robot distribution and the target geometric pattern. The optimization processes are performed independently by individual robots in their local coordinate systems. A movement strategy derived from the results of the distributed optimizations guarantees that every movement makes the current robot configuration approaches the target geometric pattern until the final pattern is reached.
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Takeno, Jun'ichi, and Ulrich Rembold. "Stereovision systems for autonomous mobile robots." Robotics and Autonomous Systems 18, no. 3 (1996): 355–63. http://dx.doi.org/10.1016/0921-8890(95)00091-7.
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Muda, Nur Rachman Supadmana, Nugraha Gumilar, R. Djoko Andreas Navalino, Tirton N, and M. Iman Hidayat. "Implementation of Autonomous Control System of The Chain Wheel Robot Using the Backpropagation Artificial Neural Network (ANN) Methods." Volume 5 - 2020, Issue 8 - August 5, no. 8 (2020): 1230–35. http://dx.doi.org/10.38124/ijisrt20aug688.
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The purpose of this research is to implement the Artificial Neural Network (ANN) method in combat robots so it can be directed to shoot targets well. The robot control system uses remote control and autonomous. In the autonomous robot system, ANN back propagation method is applied, where the weight value variable depends on ultrasonic sensor, GPS and camera. The microcontroller system will process automatically depending on the sensor input. Output data is used to direct the robot to the target, tracking and shooting. Robot is used chain wheel systems and weapons that used pistol types. The riffle is mounted on the robot can be moved mechanically azimuth and the elevation towards the target then triggered mechanically by the riffle through the activation of data relays from the microcontroller. Thus, the backpropagation method can be applied to robots so it can be functioned autonomously.
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Bayat, Behzad, Julita Bermejo-Alonso, Joel Carbonera, et al. "Requirements for building an ontology for autonomous robots." Industrial Robot: An International Journal 43, no. 5 (2016): 469–80. http://dx.doi.org/10.1108/ir-02-2016-0059.
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Purpose IEEE Ontologies for Robotics and Automation Working Group were divided into subgroups that were in charge of studying industrial robotics, service robotics and autonomous robotics. This paper aims to present the work in-progress developed by the autonomous robotics (AuR) subgroup. This group aims to extend the core ontology for robotics and automation to represent more specific concepts and axioms that are commonly used in autonomous robots. Design/methodology/approach For autonomous robots, various concepts for aerial robots, underwater robots and ground robots are described. Components of an autonomous system are defined, such as robotic platforms, actuators, sensors, control, state estimation, path planning, perception and decision-making. Findings AuR has identified the core concepts and domains needed to create an ontology for autonomous robots. Practical implications AuR targets to create a standard ontology to represent the knowledge and reasoning needed to create autonomous systems that comprise robots that can operate in the air, ground and underwater environments. The concepts in the developed ontology will endow a robot with autonomy, that is, endow robots with the ability to perform desired tasks in unstructured environments without continuous explicit human guidance. Originality/value Creating a standard for knowledge representation and reasoning in autonomous robotics will have a significant impact on all R&A domains, such as on the knowledge transmission among agents, including autonomous robots and humans. This tends to facilitate the communication among them and also provide reasoning capabilities involving the knowledge of all elements using the ontology. This will result in improved autonomy of autonomous systems. The autonomy will have considerable impact on how robots interact with humans. As a result, the use of robots will further benefit our society. Many tedious tasks that currently can only be performed by humans will be performed by robots, which will further improve the quality of life. To the best of the authors’knowledge, AuR is the first group that adopts a systematic approach to develop ontologies consisting of specific concepts and axioms that are commonly used in autonomous robots.
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Grigore, Lucian Stefanita, Iustin Priescu, Daniela Joita, and Ionica Oncioiu. "The Integration of Collaborative Robot Systems and Their Environmental Impacts." Processes 8, no. 4 (2020): 494. http://dx.doi.org/10.3390/pr8040494.
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Today, industrial robots are used in dangerous environments in all sectors, including the sustainable energy sector. Sensors and processors collect and transmit information and data from users as a result of the application of robot control systems and sensory feedback. This paper proposes that the estimation of a collaborative robot system’s performance can be achieved by evaluating the mobility of robots. Scenarios have been determined in which an autonomous system has been used for intervention in crisis situations due to fire. The experimental model consists of three autonomous vehicles, two of which are ground vehicles and the other is an aerial vehicle. The conclusion of the research described in this paper highlights the fact that the integration of robotic systems made up of autonomous vehicles working in unstructured environments is difficult and at present there is no unitary analytical model.
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Okina, Shinnosuke, Kuniaki Kawabata, Teruo Fujii, Yasuharu Kunii, Hajime Asama, and Isao Endo. "Self-diagnosis System of an Autonomous Mobile Robot Using Sensory Information." Journal of Robotics and Mechatronics 12, no. 2 (2000): 72–77. http://dx.doi.org/10.20965/jrm.2000.p0072.
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In this paper, we describe a basic sensing system for self-diagnosing an autonomous mobile robot. In recent years, many researches on intelligent robots and systems have been done. But, when such robots and systems work in the real environment, it is important for those robots and systems to have the ability to recognize their own conditions for detecting faults. On the point of view, we should consider pay more attention to diagnose in such intelligent systems. Therefore we try to construct an internal sensing system as a self-diagnosis system on a real robot. Especially, in this paper, we discuss about motor system of an autonomous omnidirectional mobile robot, which was developed in RIKEN. The self-diagnosis system consists of multiple sensors, which are voltage, current, encoder, and magnetic sensors. We show some diagnosing experimental results using the real system. From the results, we could collect basic data for fault detection of the system.
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Barfield, Woodrow. "Liability for Autonomous and Artificially Intelligent Robots." Paladyn, Journal of Behavioral Robotics 9, no. 1 (2018): 193–203. http://dx.doi.org/10.1515/pjbr-2018-0018.
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Abstract In the backdrop of increasingly intelligent machines, important issues of law have been raised by the use of robots that operate autonomous from human supervisory control. In particular, when systems operating with autonomous robot’s damage property or injure humans, it may be difficult to determinewho’s at fault and therefore liable under current legal schemes. This paper reviews product liability and negligence tort law which may be used to allocate liability for robots that damage property or cause injury. Further, the paper concludes with a discussion of different approaches to allocating liability in an age of increasingly intelligent and autonomous robots directed by sophisticated algorithms, analytical, and computational techniques
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Bensalem, Saddek, Matthieu Gallien, Felix Ingrand, Imen Kahloul, and Nguyen Thanh-Hung. "Designing autonomous robots." IEEE Robotics & Automation Magazine 16, no. 1 (2009): 67–77. http://dx.doi.org/10.1109/mra.2008.931631.
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Zacharaki, Angeliki, and Ioannis Kostavelis. "Dependability Levels on Autonomous Systems." International Journal of Information Systems for Crisis Response and Management 9, no. 3 (2017): 1–12. http://dx.doi.org/10.4018/ijiscram.2017070101.
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Professional robots should be endorsed with great autonomy capabilities when designed for release into the market. The need for autonomy is further reinforced when robots are meant to be used for crisis management situations, where close collaboration with humans and trustworthy operation in hazardous environments is necessary. To this end, this article quantifies the system's autonomy by measuring its dependability. This is achieved by defining a qualitative metric system regarding the different levels of dependability that autonomous systems should retain in order to operate in various crisis situations. It provides a detailed analysis of each level of dependability and proposes the minimum requirements that should be fulfilled in each level, thus realizing a ranking system that outlines the overall system's ability to operate autonomously. The proposed analysis is applied on a real robotic prototype developed for crisis situations and evaluates the system's autonomy capabilities by qualitative assessing the levels of dependability it retains.
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Jawhar, Khaled, and Evangelos Kranakis. "Robot Evacuation on a Line Assisted by a Bike." Information 12, no. 1 (2021): 28. http://dx.doi.org/10.3390/info12010028.
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Two robots and a bike are initially placed at the origin of an infinite line. The robots are modelled as autonomous mobile agents whose communication capabilities are either in the wireless or face-to-face model, while the bike neither can move nor communicate on its own. Thus, the bike is not autonomous but rather requires one of the robots to ride it. An exit is placed on the line at distance d from the origin; the distance and direction of the exit from the origin is unknown to the robots. Only one robot may ride the bike at a time and the goal is to evacuate from the exit in the minimum time possible as measured by the time it takes the last robot to exit. The robots can maintain a constant walking speed of 1, but when riding the bike they can maintain a constant speed v>1 (same for both robots). We develop algorithms for the evacuation of the two robots from the unknown exit and analyze the evacuation time defined as the time it takes the second robot to evacuate. In the wireless model we present three algorithms: in the first the robots move in opposite direction with max speed, in the second with a specially selected “optimal” speed, and in the third the robot imitates the biker (i.e., robot riding the bike). We also give three algorithms in the Face-to-Face model: in the first algorithm the robot pursues the biker, in the second the robot and the biker use zig-zag algorithms with specially chosen expansion factors, and the third algorithm establishes a sequence of specially constructed meeting points near the exit. In either case, the optimality of these algorithms depends on v>1. We also discuss lower bounds.
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Bogue, Robert. "EuRathlon: the autonomous robot challenge." Industrial Robot: An International Journal 41, no. 1 (2014): 50–55. http://dx.doi.org/10.1108/ir-10-2013-405.
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Purpose – This article aims to describe euRathlon 2013, the first competitive event in a three-year, EU-funded programme for autonomous robots, which was held in Germany in September 2013. Design/methodology/approach – Following an introduction, this describes the teams and their robots, the scenarios in which they had to compete, the results and details of the winning robots. It concludes with a short discussion. Findings – Thirteen academic and corporate teams competed in five tasks that simulated a range of challenging terrestrial disaster response scenarios. Performance was assessed and scored by a panel of judges and prizes were awarded to the teams that performed best. Originality/value – This provides details of an important competition that seeks to enhance Europe's autonomous robot capabilities.
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Czejdo, Bogdan, Wiktor Daszczuk, Waldemar Grabski, and Sambit Bhattacharya. "Cooperation of multiple autonomous robots and analysis of their swarm behavior." AUTOBUSY – Technika, Eksploatacja, Systemy Transportowe 19, no. 12 (2018): 872–79. http://dx.doi.org/10.24136/atest.2018.516.
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In this paper, we extended previous studies of cooperating autonomous robots to include situations when environmental changes and changes in the number of robots in the swarm can affect the efficiency to execute tasks assigned to the swarm of robots. We have presented a novel approach based on partition of the robot behaviour. The sub-diagrams describing sub-routs allowed us to model advanced interactions between autonomous robots using limited number of state combinations avoiding combinatorial explosion of reachability. We identified the systems for which we can ensure the correctness of robots interactions. New techniques were presented to verify and analyze combined robots’ behaviour. The partitioned diagrams allowed us to model advanced interactions between autonomous robots and detect irregularities such as deadlocks, lack of termination etc. The techniques were presented to verify and analyze combined robots’ behaviour using model checking approach. The described system, Dedan verifier, is still under development. In the near future, timed and probabilistic verification are planned..
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Finn, Anthony, Adam Jacoff, Mike Del Rose, et al. "Evaluating autonomous ground-robots." Journal of Field Robotics 29, no. 5 (2012): 689–706. http://dx.doi.org/10.1002/rob.21433.
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Ahmad, Paras, Mohammad Khursheed Alam, Ali Aldajani, et al. "Dental Robotics: A Disruptive Technology." Sensors 21, no. 10 (2021): 3308. http://dx.doi.org/10.3390/s21103308.
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Robotics is a disruptive technology that will change diagnostics and treatment protocols in dental medicine. Robots can perform repeated workflows for an indefinite length of time while enhancing the overall quality and quantity of patient care. Early robots required a human operator, but robotic systems have advanced significantly over the past decade, and the latest medical robots can perform patient intervention or remote monitoring autonomously. However, little research data on the therapeutic reliability and precision of autonomous robots are available. The present paper reviews the promise and practice of robots in dentistry by evaluating published work on commercial robot systems in dental implantology, oral and maxillofacial surgery, prosthetic and restorative dentistry, endodontics, orthodontics, oral radiology as well as dental education. In conclusion, this review critically addresses the current limitations of dental robotics and anticipates the potential future impact on oral healthcare and the dental profession.
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Kudriashov, Andrii, Tomasz Buratowski, Jerzy Garus, and Mariusz Giergiel. "3D Environment Exploration with SLAM for Autonomous Mobile Robot Control." WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL 16 (August 2, 2021): 450–56. http://dx.doi.org/10.37394/23203.2021.16.40.
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In the paper a solution for building of 3D map of unknown terrain for the purposes of control of wheeled autonomous mobile robots operating in an isolated and hard-access area is described. The work environment is represented by a three-dimensional occupancy grid map built with SLAM techniques using LIDAR sensor system. Probabilistic methods such as adaptive Monte Carlo localization and extended Kalman filter are used to concurrently build a map of surroundings and a robot’s pose estimation. A robot’s displacement and orientation are obtained from odometry and inertial navigation system. All algorithms and sub-systems have been implemented and verified with Robot Operation System with a framework for exploration tasks in multi-level buildings
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Correll, Nikolaus, and Mac Schwager. "Robots and autonomous systems, SI DARS 2018." Robotics and Autonomous Systems 129 (July 2020): 103530. http://dx.doi.org/10.1016/j.robot.2020.103530.
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Asama, Hajime. "Special Issue on Distributed Robotic Systems." Journal of Robotics and Mechatronics 8, no. 5 (1996): 395. http://dx.doi.org/10.20965/jrm.1996.p0395.
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Distributed Robotic Systems are focused on as a new strategy to realize flexible, robust and fault-tolerant robotic systems. In conferences and symposia held recently, the number of papers related to the Distributed Robotic Systems has increased rapidly1,2,3) which shows this area has become one of the most interesting subjects in robotics. The Distributed Robotic Systems require a broad area of interdisciplinary technologies related not only to robotics and computer engineering (especially distributed artificial intelligence and artificial life), but also to biology and psychology. Distributed Robotic Systems can be defined as robot systems which are composed of various types and levels of units, such as cells, modules, agents and robots. One category of papers included in this volume is a robot with a distributed architecture, where modular structure is adopted and/or the robot system is controlled by many CPUs in a distributed manner. Cellular robotic systems are included in this category4). Another category of the papers is cooperative motion control of multiple robots. Coordinated control of multiple manipulators and cooperative motion control by multiple mobile robots using communication are discussed in these papers. The new elemental technologies are also presented, which are required for realization of advanced cooperative motion control of multiple autonomous mobile robots in this volume. The last category of the papers is self-organization of distributed robotic systems. Though the Journal of Robotics and MecharQnics has already published the special issues on the self-organization system,5,6) the latest progress is also presented in this volume. The papers belonging to this category are directed to swarm/collective intelligence in multi-robot cooperation issues. I believe this special issue will inspire the reader's interests in the Distributed Robotic Systems and accelerate the growth of this new arising interdisciplinary research area. References: 1)H.Asama, T.Fukuda, T.Arai and I.Endo eds., Distributed Autonomous Robotic Systems, Springer-Verlag, Tokyo, (1994). 2) H.Asama, T.Fukuda, T.Arai and I.Endo eds.,Distributed Autonomous Robotic Systems 2 , Springer-Verlag, Tokyo, (1996). 3) Robotics Society of Japan, Advanced Robotics 10,6, (1996). 4) T.Fukuda and T.Ueyama, Cellullar Robotics and Micro Robotic Systems,World Scientific, Singapore, (1994). 5) Fuji Technology Press Ltd., Journal of Robotics and Mechatronics,4,2,(1992). 6) Fuji Technology Press Ltd., Journal of Robotics and Mechatronics,4,3,(1992).
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Asama, Hajime, Teruo Fujii, Hayato Kaetsu, and Isao Endo. "Elemental Technologies for Collective Robots." Journal of Robotics and Mechatronics 8, no. 5 (1996): 420–26. http://dx.doi.org/10.20965/jrm.1996.p0420.
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The research on distributed autonomous robotic systems which has been carried out in RIKEN results in a conclusion that development of new elemental technologies is essential for realization of an collective robot system. In this paper, the required elemental technologies in mechanisms, sensory systems, and communication systems of collective robots are mentioned, and some elemental technologies developed so far are introduced. Interaction between collective robots and their environment is discussed, and an intelligent data carrier system is introduced as an example of a new device for the interaction. Human interface for operating collective robots is also discussed, which enables cooperation between collective robots and a human operator.
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Couceiro, Micael S., David Portugal, Rui P. Rocha, and Nuno M. F. Ferreira. "Marsupial teams of robots: deployment of miniature robots for swarm exploration under communication constraints." Robotica 32, no. 7 (2014): 1017–38. http://dx.doi.org/10.1017/s0263574713001185.
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SUMMARYMobile Ad hoc Networks have attracted much attention in the last years, since they allow the coordination and cooperation between agents belonging to a multi-robot system. However, initially deploying autonomously a wireless sensor robot network in a real environment has not taken the proper attention. Moreover, maintaining the connectivity between agents in real and complex environments is an arduous task since the strength of the connection between two nodes (i.e., robots) can change rapidly in time or even disappear. This paper compares two autonomous and realistic marsupial strategies for initial deployment in unknown scenarios, in the context of swarm exploration: Random and Extended Spiral of Theodorus. These are based on a hierarchical approach, in which exploring agents, named scouts, are autonomously deployed through explicit cooperation with supporting agents, denoted as rangers. Experimental results with a team of heterogeneous robots are conducted using both real and virtual robots. Results show the effectiveness of the methods, using a performance metric based on dispersion. Conclusions drawn in this work pave the way for a whole series of possible new approaches.
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Yu, Xiaojun, Zeming Fan, Hao Wan, et al. "Positioning, Navigation, and Book Accessing/Returning in an Autonomous Library Robot using Integrated Binocular Vision and QR Code Identification Systems." Sensors 19, no. 4 (2019): 783. http://dx.doi.org/10.3390/s19040783.
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With rapid advancements in artificial intelligence and mobile robots, some of the tedious yet simple jobs in modern libraries, like book accessing and returning (BAR) operations that had been fulfilled manually before, could be undertaken by robots. Due to the limited accuracies of the existing positioning and navigation (P&N) technologies and the operational errors accumulated within the robot P&N process, however, most of the current robots are not able to fulfill such high-precision operations. To address these practical issues, we propose, for the first time (to the best of our knowledge), to combine the binocular vision and Quick Response (QR) code identification techniques together to improve the robot P&N accuracies, and then construct an autonomous library robot for high-precision BAR operations. Specifically, the binocular vision system is used for dynamic digital map construction and autonomous P&N, as well as obstacle identification and avoiding functions, while the QR code identification technique is responsible for both robot operational error elimination and robotic arm BAR operation determination. Both simulations and experiments are conducted to verify the effectiveness of the proposed technique combination, as well as the constructed robot. Results show that such a technique combination is effective and robust, and could help to significantly improve the P&N and BAR operation accuracies, while reducing the BAR operation time. The implemented autonomous robot is fully-autonomous and cost-effective, and may find applications far beyond libraries with only sophisticated technologies employed.
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Iio, Takamasa, Yuichiro Yoshikawa, and Hiroshi Ishiguro. "Retaining Human-Robots Conversation: Comparing Single Robot to Multiple Robots in a Real Event." Journal of Advanced Computational Intelligence and Intelligent Informatics 21, no. 4 (2017): 675–85. http://dx.doi.org/10.20965/jaciii.2017.p0675.
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In human-robot conversation in a real environment, low speech recognition and unnatural response generation are critical issues. Most autonomous conversational robotic systems avoid these issues by restricting user input and robot responses. However, such restrictions often render the interaction boring because the conversation becomes predictable. In this study, we propose the use of multiple robots as a solution for this problem. To explore the effect of multiple robots on a conversation, we developed an autonomous conversational robotic system and conducted a field trial in a real event. Our system adopted a button interface, which restricted user input within positive or negative intention, and maintained a conversation by choosing the most suitable of the prepared static scenarios. Through the field trial, we found that visitors who conversed with multiple robots continued their conversation for a more prolonged period, and their experience improved their impression on the conversation, in contrast to the visitors who conversed with a single robot.
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Lidoris, Georgios, Florian Rohrmüller, Dirk Wollherr, and Martin Buss. "System interdependence analysis for autonomous robots." International Journal of Robotics Research 30, no. 5 (2011): 601–14. http://dx.doi.org/10.1177/0278364910393040.
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With the increasing complexity of robotic systems, system robustness and efficiency are harder to achieve, since they are determined by the interplay of all of a system’s components. In order to improve the robustness of such systems, it is essential to identify the system components that are crucial for each task and the extent to which they are affected by other components and the environment. Such knowledge will help developers to improve their systems, and can also be directly utilized by the systems themselves, for example, to detect failures and thereby correctly adjust the system’s behavior. In this article a method of system interdependence analysis is presented. The basic idea is to learn and quantitatively evaluate the coherence between performance indicators of different system components, as well as the influence of environmental parameters on the system. To validate the proposed approach, system interdependence analysis is applied to the navigation system of an autonomous mobile robot. Its navigational methods are presented and suitable indicators are derived. The results of using the method, based on experimental data from an extended field experiment, are given.
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Agrawal, Akash, Sung Jun Won, Tushar Sharma, Mayuri Deshpande, and Christopher McComb. "A MULTI-AGENT REINFORCEMENT LEARNING FRAMEWORK FOR INTELLIGENT MANUFACTURING WITH AUTONOMOUS MOBILE ROBOTS." Proceedings of the Design Society 1 (July 27, 2021): 161–70. http://dx.doi.org/10.1017/pds.2021.17.
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AbstractIntelligent manufacturing (IM) embraces Industry 4.0 design principles to advance autonomy and increase manufacturing efficiency. However, many IM systems are created ad hoc, which limits the potential for generalizable design principles and operational guidelines. This work offers a standardizing framework for integrated job scheduling and navigation control in an autonomous mobile robot driven shop floor, an increasingly common IM paradigm. We specifically propose a multi-agent framework involving mobile robots, machines, humans. Like any cyberphysical system, the performance of IM systems is influenced by the construction of the underlying software platforms and the choice of the constituent algorithms. In this work, we demonstrate the use of reinforcement learning on a sub-system of the proposed framework and test its effectiveness in a dynamic scenario. The case study demonstrates collaboration amongst robots to maximize throughput and safety on the shop floor. Moreover, we observe nuanced behavior, including the ability to autonomously compensate for processing delays, and machine and robot failures in real time.
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Hoshino, Satoshi, Ryo Takisawa, and Yutaka Kodama. "Swarm Robotic Systems Based on Collective Behavior of Chloroplasts." Journal of Robotics and Mechatronics 29, no. 3 (2017): 602–12. http://dx.doi.org/10.20965/jrm.2017.p0602.
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[abstFig src='/00290003/15.jpg' width='300' text='Swarming chloroplastic robots around light source' ] In this paper, distributed autonomous robots are used to perform area coverage tasks. In order for robots to cover the ground surface of environments, the coordination of a team of robots is a challenge. For this challenge, we present bio-inspired swarm robotic systems. We focus on the collective behavior of chloroplasts toward a light source. On the basis of the mechanism of the chloroplast, we propose robot behavior models that do not use local communication. The emergence of cooperative behavior through the interaction among the swarming robots is a main contribution of this paper. Based on simulation results, the effectiveness of the chloroplastic robots for the coverage task is discussed in terms of flexibility and scalability. Furthermore, the behavioral models are applied to actual mobile robots. Based on the results of experiments, the applicability of the chloroplastic robots to real environments is discussed. As an application of the swarm robotic system, a specific task, sweeping, is given to actual chloroplastic robots.
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HESSE, FRANK, and FLORENTIN WÖRGÖTTER. "A GOAL-ORIENTATION FRAMEWORK FOR SELF-ORGANIZING CONTROL." Advances in Complex Systems 16, no. 02n03 (2013): 1350002. http://dx.doi.org/10.1142/s0219525913500021.
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Self-organization, especially in the framework of embodiment in biologically inspired robots, allows the acquisition of behavioral primitives by autonomous robots themselves. However, it is an open question how self-organization of basic motor primitives and goal-orientation can be combined, which is a prerequisite for the usefulness of such systems. In the paper at hand we propose a goal-orientation framework allowing the combination of self-organization and goal-orientation for the control of autonomous robots in a mutually independent fashion. Self-organization based motor primitives are employed to achieve a given goal. This requires less initial knowledge about the properties of robot and environment and increases adaptivity of the overall system. A combination of self-organization and reward-based learning seems thus a promising route for the development of adaptive learning systems.
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Martinez, Fredy, Edwar Jacinto, and Fernando Martinez. "Obstacle detection for autonomous systems using stereoscopic images and bacterial behaviour." International Journal of Electrical and Computer Engineering (IJECE) 10, no. 2 (2020): 2164. http://dx.doi.org/10.11591/ijece.v10i2.pp2164-2172.
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This paper presents a low cost strategy for real-time estimation of the position of obstacles in an unknown environment for autonomous robots. The strategy was intended for use in autonomous service robots, which navigate in unknown and dynamic indoor environments. In addition to human interaction, these environments are characterized by a design created for the human being, which is why our developments seek morphological and functional similarity equivalent to the human model. We use a pair of cameras on our robot to achieve a stereoscopic vision of the environment, and we analyze this information to determine the distance to obstacles using an algorithm that mimics bacterial behavior. The algorithm was evaluated on our robotic platform demonstrating high performance in the location of obstacles and real-time operation.
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Lerman, Kristina, Aram Galstyan, Alcherio Martinoli, and Auke Ijspeert. "A Macroscopic Analytical Model of Collaboration in Distributed Robotic Systems." Artificial Life 7, no. 4 (2001): 375–93. http://dx.doi.org/10.1162/106454601317297013.
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In this article, we present a macroscopic analytical model of collaboration in a group of reactive robots. The model consists of a series of coupled differential equations that describe the dynamics of group behavior. After presenting the general model, we analyze in detail a case study of collaboration, the stick-pulling experiment, studied experimentally and in simulation by Ijspeert et al. [Autonomous Robots, 11, 149–171]. The robots' task is to pull sticks out of their holes, and it can be successfully achieved only through the collaboration of two robots. There is no explicit communication or coordination between the robots. Unlike microscopic simulations (sensor-based or using a probabilistic numerical model), in which computational time scales with the robot group size, the macroscopic model is computationally efficient, because its solutions are independent of robot group size. Analysis reproduces several qualitative conclusions of Ijspeert et al.: namely, the different dynamical regimes for different values of the ratio of robots to sticks, the existence of optimal control parameters that maximize system performance as a function of group size, and the transition from superlinear to sublinear performance as the number of robots is increased.
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Um, Dugan, Jangwoon Park, Jeongsik Shin, and Woo Ho Lee. "A Social Robot, “Dali,” for Aging in Place Technology." Journal of Robotics 2018 (October 1, 2018): 1–10. http://dx.doi.org/10.1155/2018/6739652.
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Healthcare has a trend of going hi-tech. With an aging population growing more than ever, researchers and health care providers are now relying on robots to ease the symptoms of dementia and help an aging population stay where they would like, at home. Several therapeutic robots such as Paro recently introduced in the markets are manifestation of such trends. In this paper, we propose a social robot missioned to autonomously capture images of people and feed multimedia contents to a social network or to a hospital for various social activities or for health monitoring purpose. The main technical barriers of such robots include autonomous navigation, human face detection, distance, and angle adjustment for clean and better shots. To that end, we study autonomous mapping/navigation as well as optimal image capturing technology via motion planning and visual servoing. To overcome the mapping and navigation at a crowded environment, we use the potential field path planning harnessed with two competitive potential update techniques. The robot is an agent navigating in a potential field where detected environmental significances provide sources of attractive forces, while previously occupied locations estimated by SLAM technique provide sources of repelling forces. We also study visual servo technique to optimize image capturing processes. This includes facial recognition, photographic distance/angle adjustment, and backlight avoidance. We tested several scenarios with the assembled robot for its usefulness.
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Ravankar, Abhijeet, Ankit Ravankar, Yukinori Kobayashi, and Yohei Hoshino. "A Bio-Inspired Algorithm for Autonomous Task Coordination of Multiple Mobile Robots." Proceedings 4, no. 1 (2018): 1. http://dx.doi.org/10.3390/ecsa-5-05760.
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Efficient task co-ordination is an important problem in multirobot systems. The explicit programming of each robot to perform specific tasks (e.g., cleaning) is too cumbersome and inefficient, as the areas to serve in a map may vary with time. Moreover, the number of available robots to serve may also vary, as some of the robots may be charging and not available. Improper task division can cause two or more robots to serve the same areas of the map, which is a waste of computation and resources. Hence, there is a need for a simpler scheme for the autonomous task co-ordination of multiple robots without the need for explicit programming. This paper presents a bioinspired algorithm that uses the attractive and repelling behavior of pheromones for autonomous task co-ordination. The proposed algorithm uses a node representation of navigational paths for autonomous exploration. This repelling mechanism also allows robots to capture areas or subareas of the map so that there is efficient task co-ordination, and robots work without interruption from other robots. We show through experiments that the proposed scheme enables multiple service robots to intelligently perform co-operative tasks without any explicit programming or commands.
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Aguado, Esther, Zorana Milosevic, Carlos Hernández, et al. "Functional Self-Awareness and Metacontrol for Underwater Robot Autonomy." Sensors 21, no. 4 (2021): 1210. http://dx.doi.org/10.3390/s21041210.
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Autonomous systems are expected to maintain a dependable operation without human intervention. They are intended to fulfill the mission for which they were deployed, properly handling the disturbances that may affect them. Underwater robots, such as the UX-1 mine explorer developed in the UNEXMIN project, are paradigmatic examples of this need. Underwater robots are affected by both external and internal disturbances that hamper their capability for autonomous operation. Long-term autonomy requires not only the capability of perceiving and properly acting in open environments but also a sufficient degree of robustness and resilience so as to maintain and recover the operational functionality of the system when disturbed by unexpected events. In this article, we analyze the operational conditions for autonomous underwater robots with a special emphasis on the UX-1 miner explorer. We then describe a knowledge-based self-awareness and metacontrol subsystem that enables the autonomous reconfiguration of the robot subsystems to keep mission-oriented capability. This resilience augmenting solution is based on the deep modeling of the functional architecture of the autonomous robot in combination with ontological reasoning to allow self-diagnosis and reconfiguration during operation. This mechanism can transparently use robot functional redundancy to ensure mission satisfaction, even in the presence of faults.
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Kaneda, Tadahiro, Shoichiro Fujisawa, Takeo Yoshida, et al. "Ensemble by Seven Musical Performance Robots." Journal of Robotics and Mechatronics 13, no. 1 (2001): 50–55. http://dx.doi.org/10.20965/jrm.2001.p0050.
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The purpose of the Department of Systems and Control Engineering at Osaka Prefectural College of Technology is to train students who can construct synthetic systems. To achieve this purpose, we have had a case study on robotics in fourth grade since 1994. The contents of the subject are to design and make autonomous robots. The subject has a contest with different themes each year. The theme for 1998 was ""Musical Performance Robots"". This was to make seven robots and to form an ensemble. In this paper, we evaluated the case study on robotics, the role of Amusement Robot to ""Educatement"". The comparison about the sound between human playing and robot playing was conducted.
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Sun, Jifeng, Tadashi Nagata, and Kenji Kurosu. "Cooperative Behavior of a Schedule-Based Distributed Autonomous Robotic System." Journal of Robotics and Mechatronics 6, no. 2 (1994): 162–68. http://dx.doi.org/10.20965/jrm.1994.p0162.
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A scheduling method for distributed autonomous robotic systems (DRS) is proposed. Given the global task for a DRS, each robot generates a subtask according to the global load of the whole system and the partial capacity of individual robots. The determined schedule is then executed by a sign-board inter-robot communication. Some experiments of a three-robot system are performed using the proposed method.
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Alvarez, Gabriela, and Omar Flor. "Desempeño en métodos de navegación autónoma para robots móviles." Minerva 1, no. 2 (2020): 19–29. http://dx.doi.org/10.47460/minerva.v1i2.8.
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En este trabajo se presenta una comparación de los tiempos de respuesta, optimización de la ruta y complejidad del grafo en métodos de planificación de trayectoria para robots móviles autónomos. Se contrastan los desarrollos de Voronoi, Campos potenciales, Roadmap probabilístico y Descomposición en celdas para la navegación en un mismo entorno y validándolos para un número variable de obstáculos. Las evaluaciones demuestran que el método de generación de trayectoria por Campos Potenciales, mejora la navegación respecto de la menor ruta obtenida, el método Rapidly Random Tree genera los grafos de menor complejidad y el método Descomposición en celdas, se desempeña con menor tiempo de respuesta y menor coste computacional. Palabras Clave: optimización, trayectoria, métodos de planificación, robots móviles. Referencias [1]H. Ajeil, K. Ibraheem, A. Sahib y J. Humaidi, “Multi-objective path planning of an autonomous mobile robot using hybrid PSO-MFB optimization algorithm, ” Applied Soft Computing, vol. 89, April 2020. [2]K.Patle, G. Babu, A. Pandey, D.R.K. Parhi y A. Jagadeesh, “A review: On path planning strategies for navigation of mobile robot,” Defence Technology, vol. 15, pp. 582-606, August 2019. [3]T. Mack, C. Copot, D. Trung y R. De Keyser, “Heuristic approaches in robot path planning: A survey,” Robotics and Autonomous Systems, vol. 86, pp. 13-28, December 2016. [4]L. Zhang, Z. Lin, J. Wang y B. He, “Rapidly-exploring Random Trees multi-robot map exploration under optimization framework,” Robotics and Autonomous Systems, vol. 131, 2020. [5]S. Khan y M. K. Ahmmed, "Where am I? Autonomous navigation system of a mobile robot in an unknown environment," 2016 5th International Conference on Informatics, Electronics and Vision (ICIEV), pp. 56-61, December 2016. [6]V. Castro, J. P. Neira, C. L. Rueda, J. C. Villamizar y L. Angel, "Autonomous Navigation Strategies for Mobile Robots using a Probabilistic Neural Network (PNN)," IECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society, pp. 2795-2800, Taipei, 2007. [7]Y. Li, W. Wei, Y. Gao, D. Wang y C. Fan, “PQ-RRT*: An improved path planning algorithm for mobile robots,” Expert Systems with Applications, vol. 152, August 2020. [8]A. Muñoz, “Generación global de trayectorias para robots móviles, basada en curvas betaspline,” Dep. Ingeniería de Sistemas y Automática Escuela Técnica Superior de Ingeniería Universidad de Sevilla, 2014. [9]H. Montiel, E. Jacinto y H. Martínez, “Generación de Ruta Óptima para Robots Móviles a Partir de Segmentación de Imágenes,” Información Tecnológica, vol. 26, 2015. [10] C. Expósito, “Los diagramas de Vornooi, la forma matemática de dividir el mundo,” Dialnet, Diciembre 2016.
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HERRMANN, J. "Dynamical Systems for Predictive Control of Autonomous Robots." Theory in Biosciences 120, no. 3-4 (2001): 241–52. http://dx.doi.org/10.1078/1431-7613-00043.
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Herrmann, J. Michael. "Dynamical systems for predictive control of autonomous robots." Theory in Biosciences 120, no. 3-4 (2001): 241–52. http://dx.doi.org/10.1007/s12064-001-0021-0.
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Sharkey, Amanda. "Autonomous weapons systems, killer robots and human dignity." Ethics and Information Technology 21, no. 2 (2018): 75–87. http://dx.doi.org/10.1007/s10676-018-9494-0.
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Jaeger, H., and T. Christaller. "Dual dynamics: Designing behavior systems for autonomous robots." Artificial Life and Robotics 2, no. 3 (1998): 108–12. http://dx.doi.org/10.1007/bf02471165.
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Geihs, Kurt. "Engineering Challenges Ahead for Robot Teamwork in Dynamic Environments." Applied Sciences 10, no. 4 (2020): 1368. http://dx.doi.org/10.3390/app10041368.
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The increasing number of robots around us creates a demand for connecting these robots in order to achieve goal-driven teamwork in heterogeneous multi-robot systems. In this paper, we focus on robot teamwork specifically in dynamic environments. While the conceptual modeling of multi-agent teamwork was studied extensively during the last two decades and commercial multi-agent applications were built based on the theoretical foundations, the steadily increasing use of autonomous robots in many application domains gave the topic new significance and shifted the focus more toward engineering concerns for multi-robot systems. From a distributed systems perspective, we discuss general engineering challenges that apply to robot teamwork in dynamic application domains and review state-of-the-art solution approaches for these challenges. This leads us to open research questions that need to be tackled in future work.
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Brown, Alan S. "A Smooth Operator." Mechanical Engineering 139, no. 03 (2017): 42–47. http://dx.doi.org/10.1115/1.2017-mar-3.
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This article focuses on various features and advantages of the Smart Tissue Autonomous Robot (STAR), a robot being developed to perform tissue surgeries. Scientists believe that by embedding the knowledge of the best surgeons in digital systems, autonomous and semiautonomous robots could deliver universal access to the best surgical techniques. An autonomous robot must not only manipulate a needle and thread, but also follow—and react to—the shifting shapes that it creates in real time. STAR started its surgical career by working on rubbery pads with small protrusions. Surgeons use them to learn to stitch together wounds or tissues. The STAR research team plans to integrate additional sensors onto their robot to give surgeons better surgical information. Using a combination of force sensors and sophisticated multispectral cameras that see more than visible light, future robots might advise surgeons about tissue health, thickness, strength, and blood circulation. This would quantify knowledge that surgeons now learn only through experience.