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Journal articles on the topic 'Ground robots'

Author: Grafiati

Published: 21 December 2024

Last updated: 19 July 2025

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1

Trujillo, Juan-Carlos, Rodrigo Munguia, and Antoni Grau. "Aerial Cooperative SLAM for Ground Mobile Robot Path Planning." Engineering Proceedings 6, no. 1 (2021): 65. http://dx.doi.org/10.3390/i3s2021dresden-10164.

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The trajectory planning for ground mobile robots operating in unknown environments can be a difficult task. In many cases, the sensors used for detecting obstacles only provide information about the immediate surroundings, making it difficult to generate an efficient long-term path. For instance, a robot can easily choose to move along a free path that, eventually, will have a dead end. This research is intended to develop a cooperative scheme of visual-based aerial simultaneous localization and mapping (SLAM) that will be used for generating a safe long-term trajectory for a ground mobile rob

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Krestovnikov, K. D. "Control Algorithms for a Bidirectional Wireless Power Transmission System at the Redistribution of Energy Resources in a Group of Ground Robots." Mekhatronika, Avtomatizatsiya, Upravlenie 24, no. 9 (2023): 481–88. http://dx.doi.org/10.17587/mau.24.481-488.

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Redistributing energy resources within a group of ground robots allows for an increase in the reachable workspace area and expands its functional capabilities. The use of wireless energy transfer systems for exchanging energy resources between ground robots reduces the requirements for positioning accuracy and enhances the reliability of the robotic system. This study examines control and management algorithms for a bidirectional wireless energy transfer system when operating as part of a ground robot. A structural diagram of the bidirectional wireless energy transfer module is proposed for in

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Kobori, Hiroaki, and Kosuke Sekiyama. "Mutual Cooperation System for Task Execution Between Ground Robots and Drones Using Behavior Tree-Based Action Planning and Dynamic Occupancy Grid Mapping." Drones 9, no. 2 (2025): 95. https://doi.org/10.3390/drones9020095.

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This study presents a cooperative system where drones and ground robots share information to efficiently complete tasks in environments that challenge the capabilities of a single robot. Drones focus on exploring high-interest areas for ground robots, generating occupancy grid maps and identifying high-risk routes. Ground robots use this information to evaluate and adapt routes as needed. Flexible action planning through behavior trees enables the robots to respond dynamically to environmental changes, facilitating spontaneous and adaptable cooperation. Experiments with real robots confirmed t

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Zhang, Ziang, Yixu Wan, You Wang, Xiaoqing Guan, Wei Ren, and Guang Li. "Improved hybrid A* path planning method for spherical mobile robot based on pendulum." International Journal of Advanced Robotic Systems 18, no. 1 (2021): 172988142199295. http://dx.doi.org/10.1177/1729881421992958.

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This article proposes a modification of hybrid A* method used for navigation of spherical mobile robots with the ability of limited partial lateral movement driven by pendulum. For pendulum-driven spherical robots with nonzero minimal turning radius, our modification helps to find a feasible and achievable path, which can be followed in line with the low time cost. Because of spherical shell shape, the robot is point contact with the ground, showing different kinematic model compared with common ground mobile robots such as differential robot and wheeled car-like robot. Therefore, this article

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Mamiya, Shotaro, Shigenori Sano, and Naoki Uchiyama. "Foot Structure with Divided Flat Soles and Springs for Legged Robots and Experimental Verification." Journal of Robotics and Mechatronics 28, no. 6 (2016): 799–807. http://dx.doi.org/10.20965/jrm.2016.p0799.

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[abstFig src='/00280006/03.jpg' width='300' text='Robotic foot adaptable to rough terrain' ] Practical ambulation must be realized by walking robots to enable social and industrial support by walking robots in human living environments. A four-legged robot that walks through rough terrain effectively does not erase the fact that most legged robots – particularly biped robots – have difficulty negotiating rough terrain. We focus below on a foot structure and landing control for enabling any type of legged robot to walk through rough terrain. When a walking robot lands on the ground, it is diffi

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Liu, Yi, Junyao Gao, Jingchao Zhao, and Xuanyang Shi. "A New Disaster Information Sensing Mode: Using Multi-Robot System with Air Dispersal Mode." Sensors 18, no. 10 (2018): 3589. http://dx.doi.org/10.3390/s18103589.

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This paper presents a novel sensing mode for using mobile robots to collect disaster ground information when the ground traffic from the rescue center to disaster site is disrupted. Traditional sensing modes which use aerial robots or ground robots independently either have limited ability to access disaster site or are only able to provide a bird’s eye view of the disaster site. To illustrate the proposed sensing mode, the authors have developed a Multi-robot System with Air Dispersal Mode (MSADM) by combining the unimpeded path of aerial robots with the detailed view of ground robots. In the

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Wang, Yankai, Qiaoling Du, Tianhe Zhang, and Chengze Xue. "The WL_PCR: A Planning for Ground-to-Pole Transition of Wheeled-Legged Pole-Climbing Robots." Robotics 10, no. 3 (2021): 96. http://dx.doi.org/10.3390/robotics10030096.

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Hybrid mobile robots with two motion modes of a wheeled vehicle and truss structure with the ability to climb poles have significant flexibility. The motion planning of this kind of robot on a pole has been widely studied, but few studies have focused on the transition of the robot from the ground to the pole. In this study, a locomotion strategy of wheeled-legged pole-climbing robots (the WL_PCR) is proposed to solve the problem of ground-to-pole transition. By analyzing the force of static and dynamic process in the ground-to-pole transition, the condition of torque provided by the gripper a

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Mitsch, Stefan, Khalil Ghorbal, David Vogelbacher, and André Platzer. "Formal verification of obstacle avoidance and navigation of ground robots." International Journal of Robotics Research 36, no. 12 (2017): 1312–40. http://dx.doi.org/10.1177/0278364917733549.

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This article answers fundamental safety questions for ground robot navigation: under which circumstances does which control decision make a ground robot safely avoid obstacles? Unsurprisingly, the answer depends on the exact formulation of the safety objective, as well as the physical capabilities and limitations of the robot and the obstacles. Because uncertainties about the exact future behavior of a robot’s environment make this a challenging problem, we formally verify corresponding controllers and provide rigorous safety proofs justifying why the robots can never collide with the obstacle

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Yan, Hui, Xue Bo Zhang, Yu Wang, and Wei Jie Han. "Research on the Vision Processing of Space Robot's Tracking Camera." Advanced Materials Research 748 (August 2013): 713–17. http://dx.doi.org/10.4028/www.scientific.net/amr.748.713.

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The tracking camera is very important to the whole test tasks of space robot. Aiming at the vision processing problems of space robots tracking camera, a new method of vision processing LabVIEW+DLL is present in this article. Based on the method, a set of vision processing system of space robots tracking camera is researched and developed. This system can better meet the index requirements of space robots vision processing and precisely measure the position and posture data from the target star relative to space robots body coordinate system in the process of the ground air-float test for the

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10

Tellex, Stefanie, Nakul Gopalan, Hadas Kress-Gazit, and Cynthia Matuszek. "Robots That Use Language." Annual Review of Control, Robotics, and Autonomous Systems 3, no. 1 (2020): 25–55. http://dx.doi.org/10.1146/annurev-control-101119-071628.

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This article surveys the use of natural language in robotics from a robotics point of view. To use human language, robots must map words to aspects of the physical world, mediated by the robot's sensors and actuators. This problem differs from other natural language processing domains due to the need to ground the language to noisy percepts and physical actions. Here, we describe central aspects of language use by robots, including understanding natural language requests, using language to drive learning about the physical world, and engaging in collaborative dialogue with a human partner. We

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Shafiq, Muhammad, Samar Raza Talpur, Fareed Jafri, M. Kamran Joyo, and Umme Laila. "Implementing Ant Colony Optimization for Multi-Robot Coordination in Unmanned Ground Robots." Sir Syed University Research Journal of Engineering & Technology 14, no. 2 (2024): 108–13. https://doi.org/10.33317/ssurj.659.

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Single robots are not enough for multi-objective tasks especially where the task variate and we need complex computations for desired results. Therefore, multiple ground robot coordination is widely used in various domains such as warehouse operations, precision agriculture, surveillance, mapping, and healthcare, etc. The coordination of multiple robots in a complex environment can be made easy with the use of suitable optimization algorithms such as Ant Colony Optimization. However, in this research, multiple ground robot formations using Master-Slave coordination have been presented for shor

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Hijikata, Masaaki, Renato Miyagusuku, and Koichi Ozaki. "Omni Wheel Arrangement Evaluation Method Using Velocity Moments." Applied Sciences 13, no. 3 (2023): 1584. http://dx.doi.org/10.3390/app13031584.

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Wheeled omnidirectional mobile robots have been developed for industrial and service applications. Conventional research on Omni wheel robots has mainly been directed toward point-symmetric wheel arrangements. However, more flexible asymmetric arrangements may be beneficial to prevent tipping over or to make the robot more compact. Asymmetry can also be the result of a motor/wheel failure in a robot with a redundant configuration; in this case, it may be possible to continue operations, but with an asymmetrical arrangement. For controlling such asymmetric arrangements, it is necessary to consi

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Bayer, Jan, Petr Cížek, and Jan Faigl. "Autonomous Multi-robot Exploration with Ground Vehicles in DARPA Subterranean Challenge Finals." Field Robotics 3, no. 1 (2023): 266–300. http://dx.doi.org/10.55417/fr.2023008.

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Autonomous navigation and multi-robot exploration framework for ground robots are key parts of the robotic system deployed by the team CTU-CRAS-NORLAB in the final event of the Subterranean (SubT) Challenge organized by the Defense Advanced Research Projects Agency (DARPA) in 2021. The SubT Challenge aimed to advance technologies related to search-and-rescue missions with multi-robot systems in underground environments where communication is unavailable and global navigation satellite systems are denied. This field report describes the developed multi- robot exploration framework focusing on p

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Chiu, Min Chie, Long Jyi Yeh, Tian Syung Lan, and Shao Chun Yen. "Positioning and Path Planning for a Swarm Robotic Cleaner." Advanced Materials Research 740 (August 2013): 112–19. http://dx.doi.org/10.4028/www.scientific.net/amr.740.112.

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The main purpose of this paper is to create an efficient ground-sweeping robot equipped with map-establishing and path-planning functions. Two ground-sweeping robots are connected with a master pc via a Blue-tooth protocol. The position of the ground-sweeping robot will be sent back to the master pc allowing the master pc to control the robots during the ground-sweeping process. An environmental map of the sweeping area will be established by emitting an ultrasonic wave from a rotating ultrasonic sensor within the robot. The geometry data will be sent back to the master pc via the Bluetooth mo

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15

Schulz, Adriana, Cynthia Sung, Andrew Spielberg, et al. "Interactive robogami: An end-to-end system for design of robots with ground locomotion." International Journal of Robotics Research 36, no. 10 (2017): 1131–47. http://dx.doi.org/10.1177/0278364917723465.

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This paper aims to democratize the design and fabrication of robots, enabling people of all skill levels to make robots without needing expert domain knowledge. Existing work in computational design and rapid fabrication has explored this question of customization for physical objects but so far has not been able to conquer the complexity of robot designs. We have developed Interactive Robogami, a tool for composition-based design of ground robots that can be fabricated as flat sheets and then folded into 3D structures. This rapid prototyping process enables users to create lightweight, afford

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Davoodi, Mohammadreza, Javad Mohammadpour Velni, and Changying Li. "Coverage Control with Multiple Ground Robots for Precision Agriculture." Mechanical Engineering 140, no. 06 (2018): S4—S8. http://dx.doi.org/10.1115/1.2018-jun-4.

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In this work, coverage of agricultural ﬁelds using a team of autonomous unmanned ground robots with no human intervention is investigated. To this end, ﬁeld is ﬁrst represented by a topological mapandthenadistributedenergy-awaredeployment strategy is proposed to optimally distribute robots with the aim of persistent monitoring of speciﬁed regions of interest. When a robot participating in the coverage task approaches a low energy reserve, the team of robots collectively and cooperatively adjust the coverage formation to allow the agent to return to a designated base station, where it can recha

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17

Muktadir, MA, Sun Yi, Sameer Hamoush, et al. "Uncrewed Ground Vehicles (UGVs) and Nature-Inspired Designed Robot DIGIT and SPOT: A Review." American Journal of Engineering and Applied Sciences 15, no. 4 (2022): 274–87. https://doi.org/10.3844/ajeassp.2022.274.287.

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Researchers around the world are developing autonomous robot systems to assist humans with tedious, hazardous, complex, and time-consuming tasks. Today, autonomous robots are used for a variety of applications, ranging from delivering food to operating on patients. A robotic system can be operated with or without human assistance, depending on whether it is manned or unmanned. Additionally, the robot may be classified as an Unmanned Aerial Vehicle (UAV), Unmanned Surface Vehicle (USV), or Unmanned Ground Vehicle (UGV), depending on its operational conditions. An autonomous robot may be equippe

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Okada, Tokuji, Abeer Mahmoud, Wagner Tanaka Botelho, and Toshimi Shimizu. "Trajectory estimation of a skid-steering mobile robot propelled by independently driven wheels." Robotica 30, no. 1 (2011): 123–32. http://dx.doi.org/10.1017/s026357471100035x.

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SUMMARYThis paper analyses a mobile robot with independently rotating wheels travelling on uneven but smooth ground, including ascending or descending surfaces. We formulate a mathematical expression for the energy cost of the robot's movement. For our analysis, we utilise the principle of virtual work and assume that the robot moves with a fixed arrangement of wheel axes and without using a steering handle. The mathematical model reveals that the coefficient of friction and the payload distribution dominate the wheel behaviour, including slipping and skidding. We minimise the virtual work exp

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19

Spassky, Boris, and Alexander Popov. "Towards the use of control systems with variable autonomy levels in tasks of extreme robotics." Robotics and Technical Cybernetics 12, no. 2 (2024): 99–108. http://dx.doi.org/10.31776/rtcj.12203.

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Increasing the level of robot autonomy in scenarios of extreme robotics allows, on the one hand, to reduce the load on the operator due to the sharing of labor between man and machine, and on the other, to increase the safety and efficiency of performing complex and critical tasks, such as search and rescue operations, monitoring of hazard-ous environments, disposal or neutralization of dangerous objects and many others. Such robots are characterized by the predominant use of teleoperation. However, recently there appeared a trend towards increasing of robot’s autonomy levels even for those ty

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Emmi, Luis, Roemi Fernández, and Pablo Gonzalez-de-Santos. "An Efficient Guiding Manager for Ground Mobile Robots in Agriculture." Robotics 13, no. 1 (2023): 6. http://dx.doi.org/10.3390/robotics13010006.

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Mobile robots have become increasingly important across various sectors and are now essential in agriculture due to their ability to navigate effectively and precisely in crop fields. Navigation involves the integration of several technologies, including robotics, control theory, computer vision, and artificial intelligence, among others. Challenges in robot navigation, particularly in agriculture, include mapping, localization, path planning, obstacle detection, and guiding control. Accurate mapping, localization, and obstacle detection are crucial for efficient navigation, while guiding the

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Sun, Peng, Yunfei Gu, Haoyu Mao, Zhao Chen, and Yanbiao Li. "Research on Walking Gait Planning and Simulation of a Novel Hybrid Biped Robot." Biomimetics 8, no. 2 (2023): 258. http://dx.doi.org/10.3390/biomimetics8020258.

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A kinematics analysis of a new hybrid mechanical leg suitable for bipedal robots was carried out and the gait of the robot walking on flat ground was planned. Firstly, the kinematics of the hybrid mechanical leg were analyzed and the applicable relevant models were established. Secondly, based on the preliminary motion requirements, the inverted pendulum model was used to divide the robot walking into three stages for gait planning: mid-step, start and stop. In the three stages of robot walking, the forward and lateral robot centroid motion trajectories and the swinging leg joint trajectories

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Bogue, Robert. "The role of robots in the battlefields of the future." Industrial Robot: An International Journal 43, no. 4 (2016): 354–59. http://dx.doi.org/10.1108/ir-03-2016-0104.

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Purpose This paper aims to provide an overview of robots presently in use by the military and an insight into some that are under development. Design/methodology/approach Following a short introduction, this paper first considers existing applications of robots in the military field, including details of Russian weaponised ground robots. It then highlights a range of military robot developments and concludes with a brief discussion. Findings Drones (unmanned aerial vehicles) and small unmanned ground vehicles (UGVs) are among the most widely used robots by the military. Russia is developing a

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Latif, M., Shofia Hardi, and Sri Herawati. "Motion control development for autonomous ground robots in agriculture task." Journal of Physics: Conference Series 2193, no. 1 (2022): 012060. http://dx.doi.org/10.1088/1742-6596/2193/1/012060.

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Abstract Motion control for autonomous ground robots to solve tasks in agriculture is investigated in this study. Motion control is designed and developed to track the reference trajectory. The model is developed in detail based on the kinematics and dynamics of the robot. The novelty of this research is to solve the problem of controlling agricultural robots on the problem of tracking a rectangular spiral trajectory. The motion controls described in this study were developed and validated in a simulation. Accuracy of the developed system is validated by measuring the error tracking using MSE

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Nie, Chenghui, Marin Assaliyski, and Matthew Spenko. "Design and experimental characterization of an omnidirectional unmanned ground vehicle for unstructured terrain." Robotica 33, no. 9 (2014): 1984–2000. http://dx.doi.org/10.1017/s0263574714001180.

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SUMMARYThis paper describes the design and experimental validation of an omnidirectional unmanned ground vehicle built for operation on real-world, unstructured terrains. The omnidirectional capabilities of this robot give it advantages over skid-steered or Ackermann-steered vehicles in tight and confined spaces. The robot's conventional wheels allow for operation in natural, outdoor environments as compared to omnidirectional robots that use specialized wheels with small, slender rollers and parts that can easily become obstructed with debris and dirt. Additionally, the robot's active split o

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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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Zhang, Yaohui, Yugang Song, Fanggang Lu, et al. "Design and Experiment of Greenhouse Self-Balancing Mobile Robot Based on PR Joint Sensor." Agriculture 13, no. 10 (2023): 2040. http://dx.doi.org/10.3390/agriculture13102040.

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To avoid issues such as the greenhouse working robot’s inability to perform normal tasks or reduced working accuracy due to the influence of uneven ground, this study designed a set of greenhouse self-balancing mobile robots. The self-balancing mobile robot system designed in this study uses a quadruped mobile robot as a carrier, equipped with a three-degrees-of-freedom wheel-leg structure and is complemented with a posture control algorithm. The algorithm calculates the adjustment of each leg based on the vehicle’s tilt angle and wheel-ground pressure, achieving control over the robot’s postu

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Peng, Saijin, Xilun Ding, Fan Yang, and Kun Xu. "Motion planning and implementation for the self-recovery of an overturned multi-legged robot." Robotica 35, no. 5 (2015): 1107–20. http://dx.doi.org/10.1017/s0263574715001009.

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SUMMARYThis paper first presents a method of motion planning and implementation for the self-recovery of an overturned six-legged robot. Previous studies aimed at the static and dynamic stabilization of robots for preventing them from overturning. However, no one can guarantee that an overturn accident will not occur during various applications of robots. Therefore, the problems involving overturning should be considered and solved during robot design and control. The design inspirations of multi-legged robots come from nature, especially insects and mammals. In addition, the self-recovery app

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Kiselev, Sergey K., and Tuan T. Van. "CONTROL OF A GROUND MOBILE ROBOT MOTION IN CASE OF THE NAVIGATIONAL DATA CORRUPTION OF THE SATELLITE NAVIGATION SYSTEM." Автоматизация процессов управления 2, no. 64 (2021): 4–12. http://dx.doi.org/10.35752/1991-2927-2021-2-64-4-12.

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The article discusses the determination of navigational data corruption, which received by the satellite navigation system as well as traffic control of ground mobile robots. It also specifies the movement features of ground robots, which affect the data integrity monitoring. It proposes an algorithm of control to implement the methods of autonomous onboard monitoring of the navigational data integrity. The algorithm is based on the equations of signal correspondence in various parts of the control system. It is designed to determine the inoperability of the satellite navigation system that im

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Watanabe, Ayaka, Tomonori Mitsuhashi, Masayuki Okugawa, et al. "Ground Adaptability of Crawler Mobile Robots with Sub-Crawler Rotary Joint Compliance." Journal of Robotics and Mechatronics 36, no. 3 (2024): 732–45. http://dx.doi.org/10.20965/jrm.2024.p0732.

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Remote-controlled mobile robots are expected to be used in difficult- or impossible-to-access environments for inspection workers and responders, such as in investigations and search activities at accident/disaster sites and inspection/investigation work at plants/infrastructure. Among ground mobile robots, crawler mobile robots with sub-crawlers (also known as ground-adaptive crawler robots) excel at in-ground adaptability and stack escape; however, their operators require advanced remote-control technology and experience. Therefore, the introduction of semi-autonomous control to assist the o

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Rafeeq, Mohammed, Siti Fauziah Toha, Salmiah Ahmad, Mohd Asyraf Razib, Ahmad Syahrin Idris, and Mohammad Osman Tokhi. "Amphibious Robots Locomotion Strategies in Unstructured Complex Environments: A Review." Platform : A Journal of Engineering 8, no. 1 (2024): 12. http://dx.doi.org/10.61762/pajevol8iss1art26197.

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In the previous literature, amphibious robots focused mainly on locomotion in underwater and flat land surface manoeuvring. Few amphibious robots focused on unstructured land environments. The amphibious robot designs were more emphasised in academics, leading to more work done in building amphibious robots that mimic biological amphibians, imitating the geometry and overall functionality of the amphibious robots. Developing amphibious robots with propulsive mechanisms for manoeuvring in a water environment received more attention than other functionalities like adaptability on rough natural t

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Li, Ping, and Liwei Yang. "Conflict-free and energy-efficient path planning for multi-robots based on priority free ant colony optimization." Mathematical Biosciences and Engineering 20, no. 2 (2022): 3528–65. http://dx.doi.org/10.3934/mbe.2023165.

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<abstract><p>With the background of limited energy storage of robots and considering the high coupling problem of multi-agent path finding (MAPF), we propose a priority-free ant colony optimization (PFACO) to plan conflict-free and energy-efficient paths, reducing multi-robots motion cost in the rough ground environment. First, a dual-resolution grid map considering obstacles and ground friction factors is designed to model the unstructured rough terrain. Second, an energy-constrained ant colony optimization (ECACO) is proposed to achieve energy-optimal path planning for a single r

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Zuo, Weilong, Junyao Gao, Jingwei Cao, Xilong Xin, Mingyue Jin, and Xuechao Chen. "Whole-Body Dynamics-Based Aerial Fall Trajectory Optimization and Landing Control for Humanoid Robot." Biomimetics 8, no. 6 (2023): 460. http://dx.doi.org/10.3390/biomimetics8060460.

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When humanoid robots work in human environments, falls are inevitable due to the complexity of such environments. Current research on humanoid robot falls has mainly focused on falls on the ground, with little research on humanoid robots falling from the air. In this paper, we employ an extended state variable formulation that directly maps from the high-level motion strategy space to the full-body joint space to optimize the falling trajectory in order to protect the robot when falling from the air. In order to mitigate the impact force generated by the robot’s fall, during the aerial phase,

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Li, Ang. "Design of Flexible Feet for Legged Robots." Journal of Engineering System 1, no. 2 (2023): 18–23. http://dx.doi.org/10.62517/jes.202302204.

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Due to its unique body structure and movement mode, the legged robot has strong terrain adaptability and can move in many complex environments. However, the robot's feet will frequently contact with the ground during the movement, and will be subject to greater ground impact. The flexible foot structure can effectively reduce the ground impact. The leg and foot structures, and locomotor characteristics of cats and insects were analyzed based on bionic principles. Combined with the structural characteristics of the small-legged robot, the structure and function of the flexible foot end is analy

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Tranzatto, Marco, Frank Mascarich, Lukas Bernreiter, et al. "CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge." Field Robotics 2, no. 1 (2022): 274–324. http://dx.doi.org/10.55417/fr.2022011.

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Autonomous exploration of subterranean environments constitutes a major frontier for robotic systems, as underground settings present key challenges that can render robot autonomy hard to achieve. This problem has motivated the DARPA Subterranean Challenge, where teams of robots search for objects of interest in various underground environments. In response, we present the CERBERUS system-of-systems, as a unified strategy for subterranean exploration using legged and flying robots. Our proposed approach relies on ANYmal quadraped as primary robots, exploiting their endurance and ability to tra

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Zhu, Renjie, Yifan Zhang, and Hongqiang Wang. "Miniature Mobile Robot Using Only One Tilted Vibration Motor." Micromachines 13, no. 8 (2022): 1184. http://dx.doi.org/10.3390/mi13081184.

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In miniature mobile robots, reducing the number of actuators can effectively reduce the size and weight of the robot. However, it is challenging to design a robot with as few actuators as possible without losing good motion performance. This work presented a simple-structured low-cost miniature mobile robot. It is driven by only a single tilted motor and yet is fully capable of being controlled to move forward and turn left or right on the ground. Based on the stick–slip mechanism, the robot’s motion is achieved by interplaying between the centrifugal force generated by the vibration motor til

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Cao, Kai, Yangquan Chen, Song Gao, Haixin Dang, and Di An. "Distributed Weighted Coverage for Multi-Robot Systems in Non-Convex Environment." Applied Sciences 13, no. 14 (2023): 8530. http://dx.doi.org/10.3390/app13148530.

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Multi-robot coverage systems are widely used in operations such as environmental monitoring, disaster rescue, and pollution prevention. This study considers inherent positioning errors in positioning systems and ground mobile robots with limited communication distance and poor quality in practice. A centroidal Voronoi tessellation algorithm-based formation control technology for multi-robots is optimized. First, by constructing buffered Voronoi cells (BUVCs) for each robot, the collision avoidance ability of the multi-robot formation movement is improved. Next, the formation control problem of

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Peng, Ping, Xiao Jun Zhang, Jun Zhang, and Zhe Liu. "Research on Kinematic of the Wheel-Legged Robot Based on Uneven Road Surface." Advanced Materials Research 712-715 (June 2013): 2312–19. http://dx.doi.org/10.4028/www.scientific.net/amr.712-715.2312.

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A new type of wheel-legged mobile robot is presented in the paper, which is mainly used for early toxic gas leakage warning and disaster relief in the field of wild environment. The paper first presents the structure feature of the new wheel-legged mobile robot. According to the structure of the robot, the kinematics model about robot moving on the smoothing-riding surface is built. On this basis, considering the effects of the disturbance by uneven road surface the paper carries out the robots kinematics analysis. To simulate the result of robot moving on the real road surface, the paper rese

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Kupervasser, Oleg, Hennadii Kutomanov, Michael Mushaelov, and Roman Yavich. "Using Diffusion Map for Visual Navigation of a Ground Robot." Mathematics 8, no. 12 (2020): 2175. http://dx.doi.org/10.3390/math8122175.

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This paper presents the visual navigation method for determining the position and orientation of a ground robot using a diffusion map of robot images (obtained from a camera in an upper position—e.g., tower, drone) and for investigating robot stability with respect to desirable paths and control with time delay. The time delay appears because of image processing for visual navigation. We consider a diffusion map as a possible alternative to the currently popular deep learning, comparing the possibilities of these two methods for visual navigation of ground robots. The diffusion map projects an

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Liu, Yunsong, and Xiong Zheng. "Bio-Inspired Double-Layered Hydrogel Robot with Fast Response via Thermo-Responsive Effect." Materials 17, no. 15 (2024): 3679. http://dx.doi.org/10.3390/ma17153679.

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Bio-inspired hydrogel robots have become promising due to their advantage of the interaction safety and comfort between robots and humans, while current hydrogel robots mainly focus on underwater movement due to the hydration–dehydration process of thermo-responsive hydrogels, which greatly limits their practical applications. To expand the motion of the thermo-responsive hydrogel robot to the ground, we constructed a hydrogel robot inspired by a caterpillar, which has an anisotropic double-layered structure by the interfacial diffusion polymerization method. Adding PVA and SA to PNIPAm will c

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Muthugala, M. A. Viraj J., Povendhan Palanisamy, S. M. Bhagya P. Samarakoon, Saurav Ghante Anantha Padmanabha, Mohan Rajesh Elara, and Dylan Ng Terntzer. "Raptor: A Design of a Drain Inspection Robot." Sensors 21, no. 17 (2021): 5742. http://dx.doi.org/10.3390/s21175742.

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Frequent inspections are essential for drains to maintain proper function to ensure public health and safety. Robots have been developed to aid the drain inspection process. However, existing robots designed for drain inspection require improvements in their design and autonomy. This paper proposes a novel design of a drain inspection robot named Raptor. The robot has been designed with a manually reconfigurable wheel axle mechanism, which allows the change of ground clearance height. Design aspects of the robot, such as mechanical design, control architecture and autonomy functions, are compr

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Wijayathunga, Liyana, Alexander Rassau, and Douglas Chai. "Challengesand Solutions for Autonomous Ground Robot Scene Understanding and Navigation in Unstructured Outdoor Environments: A Review." Applied Sciences 13, no. 17 (2023): 9877. http://dx.doi.org/10.3390/app13179877.

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The capabilities of autonomous mobile robotic systems have been steadily improving due to recent advancements in computer science, engineering, and related disciplines such as cognitive science. In controlled environments, robots have achieved relatively high levels of autonomy. In more unstructured environments, however, the development of fully autonomous mobile robots remains challenging due to the complexity of understanding these environments. Many autonomous mobile robots use classical, learning-based or hybrid approaches for navigation. More recent learning-based methods may replace the

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Poulet, Olivier, Frédéric Guinand, and François Guérin. "Self-Localization of Anonymous UGVs Using Deep Learning from Periodic Aerial Images for a GPS-Denied Environment." Robotics 13, no. 10 (2024): 148. http://dx.doi.org/10.3390/robotics13100148.

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This work concerns the autonomous navigation of non-holonomic ground mobile robots in a GPS-denied environment. The objective was to locate, in a global frame, without GPS, anonymous ground mobile robots starting from two consecutive aerial images captured by a single fixed webcam. The effectiveness of deep learning by a MultiLayer Perceptron in an indexed localization was compared to the methods studied in previous works. The ability of a robot to determine the position of other non-indexed robots was also performed. The structure and parameters of the network and the choice of the points tak

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Ma, Xinmeng, Gang Wang, Kaixin Liu, et al. "Granular Resistive Force Theory Extension for Saturated Wet Sand Ground." Machines 10, no. 9 (2022): 721. http://dx.doi.org/10.3390/machines10090721.

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Amphibious environments formed from sand and water present a formidable challenge to the running motion of field robots, as the mixing of granular media (GM) and water makes the force laws of robotic legs more complicated during robot running. To this end, we extended the granular resistive force theory (RFT) to saturated wet granular media, named saturated granular RFT (SGRFT), which can be suitable for saturated wet sand submerged in water. This method can extend RFT for dry GM to saturated wet granular media (SWGM) by using the method’s velocity and depth coefficient. The force laws of the

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Yu, Shuien, Chunyun Fu, Amirali K. Gostar, and Minghui Hu. "A Review on Map-Merging Methods for Typical Map Types in Multiple-Ground-Robot SLAM Solutions." Sensors 20, no. 23 (2020): 6988. http://dx.doi.org/10.3390/s20236988.

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When multiple robots are involved in the process of simultaneous localization and mapping (SLAM), a global map should be constructed by merging the local maps built by individual robots, so as to provide a better representation of the environment. Hence, the map-merging methods play a crucial rule in multi-robot systems and determine the performance of multi-robot SLAM. This paper looks into the key problem of map merging for multiple-ground-robot SLAM and reviews the typical map-merging methods for several important types of maps in SLAM applications: occupancy grid maps, feature-based maps,

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Barca, Jan Carlo, Eugene Eu-Juin Lee, and Ahmet Sekercioglu. "Flexible Morphogenesis based Formation Control for Multi-Robot Systems." IAES International Journal of Robotics and Automation (IJRA) 2, no. 1 (2013): 26. http://dx.doi.org/10.11591/ijra.v2i1.pp26-34.

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Inspired by how biological cells communicate with each other at a cell-to-cell level; morphogenesis emerged to be an effective way for local communication between homogenous robots in multi-robot systems. In this paper, we present the first steps towards a scalable morphogenesis style formation control technique, which address the drawbacks associated with current morphogenesis type formation control techniques, including their inability to distribute robots evenly across target shapes. A series of experiments, which demonstrate that the proposed technique enables groups of non-holonomic groun

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Tapia, Miguel A. Chávez, Diego Palma Rodríguez, and Marco Zúñiga Zamalloa. "Edge-Light: Exploiting Luminescent Solar Concentrators for Ambient Light Communication." Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies 8, no. 3 (2024): 1–23. http://dx.doi.org/10.1145/3678574.

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A recent advance in embedded Internet of Things (IoT) exploits ambient light for wireless communication. This new paradigm enables highly efficient links via simple light modulation, but the design space has a fundamental constraint: in most State of the Art (SoA) studies, the link can only follow the propagation direction of ambient light. Consider, for example, a swarm of drones and ground robots that want to communicate with sunlight. Drone-to-robot communication could be possible because sunlight travels downwards from the air (drone) to the ground (robot), allowing drones to modulate ligh

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Dettmann, Alexander, Malte Langosz, Jonas Eisenmenger, et al. "Ground Interaction Models for Increased Autonomy of Planetary Exploration Systems." Journal of Physics: Conference Series 2716, no. 1 (2024): 012092. http://dx.doi.org/10.1088/1742-6596/2716/1/012092.

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Abstract Future planetary exploration robots need to improve their autonomy to increase mission safety and efficiency. The presented concept achieves this by introducing the learning and usage of ground interaction models, which allow a more precise modelling of the robot’s mobility on different terrains. The idea is that a precise prediction of the expected performance will, on the one hand, allow an early detection of changed conditions and, on the other hand, enable a system to appropriately react on it. By classifying the traversed terrain, a robot gains the possibility to replan its path

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Chen, Yang, Shiwen Ren, Zhihuan Chen, Mengqing Chen, and Huaiyu Wu. "Path Planning for Vehicle-borne System Consisting of Multi Air–ground Robots." Robotica 38, no. 3 (2019): 493–511. http://dx.doi.org/10.1017/s0263574719000808.

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SummaryThis paper considers the path planning problem for deployment and collection of a marsupial vehicle system which consists of a ground mobile robot and two aerial flying robots. The ground mobile robot, usually unmanned ground vehicle (UGV), as a carrier, is able to deploy and harvest the aerial flying robots, and each aerial flying robot, usually unmanned aerial vehicles (UAVs), takes off from and lands on the carrier. At the same time, owing to the limited duration in the air in one flight, UAVs should return to the ground mobile robot timely for its energy-saving and recharge. This wo

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Nakamura, Taro, Takashi Kato, Tomohide Iwanaga, and Yoichi Muranaka. "Development of a Peristaltic Crawling Robot Based on Earthworm Locomotion." Journal of Robotics and Mechatronics 18, no. 3 (2006): 299–304. http://dx.doi.org/10.20965/jrm.2006.p0299.

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Earthworm locomotion, called peristaltic crawling, requires less space than other types of movement, making it practical across irregular ground and inside narrow areas such as pipes and a thus a candidate for use with rescue and exploration robots. We developed a multiple-segment peristaltic crawling robot that uses servomotors. We discuss the basics of locomotion patterns, e.g., the length of longitudinal waves, period, friction force, and number of segments. We confirmed that robot movement resembled that of an actual earthworm and found in experiments that an appropriate period exists for

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Li, Minggang, Hanxu Sun, Long Ma, et al. "Special spherical mobile robot for planetary surface exploration: A review." International Journal of Advanced Robotic Systems 20, no. 2 (2023): 172988062311622. http://dx.doi.org/10.1177/17298806231162207.

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Considering the requirements of high scientific return, low cost, less complexity, and more reliability for the robot proposed by the extreme environment exploration task on the planet surface, this article comprehensively reviews the history of the special spherical robot used for extraterrestrial surface exploration and summarizes the environmental characteristics and task difficulties of different planet surface. This article compares the advantages of different types of ground spherical robots and points out the superiority of special spherical robots, such as omni-direction, airtightness,

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