Relevant bibliographies by topics / Mobilní roboty

Contents

  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers
  6. Reports

Academic literature on the topic 'Mobilní roboty'

Author: Grafiati
Published: 4 June 2021
Last updated: 2 February 2022

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Journal articles on the topic "Mobilní roboty"

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Vasiljević, Predrag. "PLANIRANJE PUTANJE I IZVRŠAVANJE KRETANJA MOBILNOG ROBOTA U PRISUSTVU STATIČKIH I DINAMIČKIH PREPREKA." Zbornik radova Fakulteta tehničkih nauka u Novom Sadu 34, no. 04 (March 22, 2019): 761. http://dx.doi.org/10.24867/02ih02vasiljevic.

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U ovom radu je prikazano na koji način je izvršeno planiranje putanje mobilnog robota u prisustvu statičkih i dinamičkih prepreka. Odabrana metoda za planiranje putanje je prikazana u drugom poglavlju i naziva se A* algoritam. U trećem poglavlju je objašnjeno izvršavanje kretanja i upravljanje brzinom. Nakon toga, u četvrtom poglavlju je prikazana implementacija na mobilnom robotu pogonjenim sa tri omnidirekciona točka, kao i način testiranja planiranja putanje u prisustvu statičkih i dinamičkih prepreka
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Boudra, Soumia, Nasr-Eddine Berrached, and Amine Dahane. "Efficient and secure real-time mobile robots cooperation using visual servoing." International Journal of Electrical and Computer Engineering (IJECE) 10, no. 3 (June 1, 2020): 3022. http://dx.doi.org/10.11591/ijece.v10i3.pp3022-3034.

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This paper deals with the challenging problem of navigation in formation of mobiles robots fleet. For that purpose, a secure approach is used based on visual servoing to control velocities (linear and angular) of the multiple robots. To construct our system, we develop the interaction matrix which combines the moments in the image with robots velocities and we estimate the depth between each robot and the targeted object. This is done without any communication between the robots which eliminate the problem of the influence of each robot errors on the whole. For a successful visual servoing, we propose a powerful mechanism to execute safely the robots navigation, exploiting a robot accident reporting system using raspberry Pi3. In addition, in case of problem, a robot accident detection reporting system testbed is used to send an accident notification, in the form of a specifical message. Experimental results are presented using nonholonomic mobiles robots with on-board real time cameras, to show the effectiveness of the proposed method.
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Takanobu, Hideaki, Masumi Iida, Kenji Suzuki, Hirofumi Miura, Masanao Futakami, Tomohiro Endo, and Yoshinobu Inada. "Swarm Intelligence Robot : 3D swarm motion by airship and mobile robots." Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM 2010.5 (2010): 61–66. http://dx.doi.org/10.1299/jsmeicam.2010.5.61.

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Weerakoon, Tharindu, and Kazuo Ishii. "1A2-F06 2D obstacle avoidance algorithm for mobile robots(Wheeled Robot/Tracked Vehicle(2))." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2012 (2012): _1A2—F06_1—_1A2—F06_4. http://dx.doi.org/10.1299/jsmermd.2012._1a2-f06_1.

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Cherno, O. O., O. S. Gerasin, A. M. Topalov, D. K. Stakanov, A. P. Hurov, and Yu O. Vyzhol. "SIMULATION OF MOBILE ROBOT CLAMPING MAGNETS BY CIRCLE-FIELD METHOD." Tekhnichna Elektrodynamika 2021, no. 3 (April 19, 2021): 58–64. http://dx.doi.org/10.15407/techned2021.03.058.

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Abstract There are a list of complicated tasks need to be solved to increase the working productivity and decrease working cost in modern shipbuilding and ship repair. Good results in solving those problems are shown whether automation with varied robots implementation. The mobile robots able to move and perform given technological operations on different-spaced ferromagnetic surfaces are equipped with own control systems, movers and clamping devices. Usually, reliability and safety of such robots are in direct dependence on designers’ adequate representation of their behavior that is described by mathematical description of separate parts or the robot in the whole to correct control problem solving. The article amply considers the process of the climbing mobile robot clamping electromagnet simulation model building using the improved circle-field method on the example of BR-65/30 clamping electromagnet. The model is built on the basis of interpolated dependences of flux coupling and electromagnetic force on the magnetomotive force and the value of the air gap obtained by numerical calculations of the magnetic field. The dynamic properties of the electromagnet are investigated and a family of its traction characteristics is obtained by the developed model, which can be used for automatic control of the robot clamping device. References 25, figures 5, tables 3.
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Rohmer, Eric, Tomoaki Yoshida, Kazunori Ohno, Keiji Nagatani, Satoshi Tadokoro, and Eiji Konayagi. "Quince : A Collaborative Mobile Robotic Platform for Rescue Robots Research and Development." Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM 2010.5 (2010): 225–30. http://dx.doi.org/10.1299/jsmeicam.2010.5.225.

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FU, Yu Chun, and Shigeo HIROSE. "2A2-L13 Proposition of Surface Wave Mechanism and Its Application for Watertight Mobile Robots(Mobile Robot with Special Mechanism)." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2011 (2011): _2A2—L13_1—_2A2—L13_4. http://dx.doi.org/10.1299/jsmermd.2011._2a2-l13_1.

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Chung, Woojin, Seokgyu Kim, and Jaesik Choi. "2P2-E21 High speed navigation of a mobile robot based on robot's experiences." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2006 (2006): _2P2—E21_1—_2P2—E21_3. http://dx.doi.org/10.1299/jsmermd.2006._2p2-e21_1.

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Berg, Julia, Benedikt Leichtmann, Albrecht Lottermoser, and Verena Nitsch. "Einsatz und Evaluation mobiler Roboter/Application and Evaluation of mobile robots in industrial environments." wt Werkstattstechnik online 110, no. 09 (2020): 619–23. http://dx.doi.org/10.37544/1436-4980-2020-09-49.

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Im Rahmen des Projekts „FORobotics“ wurden mobile Robotersysteme in industriellen Unternehmen eingesetzt. Um den Einsatz strukturiert zu evaluieren, wurde eine Methode zur Evaluation entwickelt. Der Beitrag beschreibt den Einsatz des mobilen Roboters bei der Mey Maschinenbau Prien GmbH & Co. KG und die Evaluation des Einsatzes mithilfe der entwickelten Methode.   The project FORobotics adressed the application of mobile robots in industrial companies. In order to evaluate structurally the application, an evaluation method was developed. This article describes the application of the mobile robot at Mey Maschinenbau Prien GmbH & Co. KG and the evaluation using the developed method.
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Yasuda, Motohiro, Hiroshi Ogiya, and Nobuto Matsuhira. "Shared map for multiple teleoperated robot system with RSNP to perform a collaborative task : An exploration experiment by two mobile robots." Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM 2015.6 (2015): 41–42. http://dx.doi.org/10.1299/jsmeicam.2015.6.41.

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Dissertations / Theses on the topic "Mobilní roboty"

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Hrabec, Jakub. "Modelování a řízení mobilních robotů s několika řízenými koly." Doctoral thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2009. http://www.nusl.cz/ntk/nusl-233456.

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Dizertační práce se zabývá problematikou kinematického modelování a řízení mobliních kolových robotů. Přináší sumarizaci problematiky kinematického modelování mobilních robotů obecně a popis vlastností kolových mobilních robotů s několika řízenými koly. Použitý aparát z matematiky, fyziky je vysvětlován s důrazem na pohled teorie řízení. Dále je prezentován nový řídicí algoritmus pro mobilní kolové roboty s více řízenými koly, vhodný pro úlohu stabilizace v bodě i sledování trajektorie, tedy obě nejčastěji řešené úlohy pohybu mobilních robotů.
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Jež, Ondřej. "Navigation of Mobile Robots in Unknown Environments Using Range Measurements." Doctoral thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2008. http://www.nusl.cz/ntk/nusl-233443.

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The ability of a robot to navigate itself in the environment is a crucial step towards its autonomy. Navigation as a subtask of the development of autonomous robots is the subject of this thesis, focusing on the development of a method for simultaneous localization an mapping (SLAM) of mobile robots in six degrees of freedom (DOF). As a part of this research, a platform for 3D range data acquisition based on a continuously inclined laser rangefinder was developed. This platform is presented, evaluating the measurements and also presenting the robotic equipment on which the platform can be fitted. The localization and mapping task is equal to the registration of multiple 3D images into a common frame of reference. For this purpose, a method based on the Iterative Closest Point (ICP) algorithm was developed. First, the originally implemented SLAM method is presented, focusing on the time-wise performance and the registration quality issues introduced by the implemented algorithms. In order to accelerate and improve the quality of the time-demanding 6DOF image registration, an extended method was developed. The major extension is the introduction of a factorized registration, extracting 2D representations of vertical objects called leveled maps from the 3D point sets, ensuring these representations are 3DOF invariant. The extracted representations are registered in 3DOF using ICP algorithm, allowing pre-alignment of the 3D data for the subsequent robust 6DOF ICP based registration. The extended method is presented, showing all important modifications to the original method. The developed registration method was evaluated using real 3D data acquired in different indoor environments, examining the benefits of the factorization and other extensions as well as the performance of the original ICP based method. The factorization gives promising results compared to a single phase 6DOF registration in vertically structured environments. Also, the disadvantages of the method are discussed, proposing possible solutions. Finally, the future prospects of the research are presented.
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Iagnemma, Karl Dubowsky S. "Mobile robots in rough terrain : estimation, motion planning, and control with application to planetary rovers /." Berlin ; New York : Springer, 2004. http://www.loc.gov/catdir/toc/fy0606/2004106986.html.

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Sorour, Mohamed. "Motion discontinuity-robust controller for steerable wheeled mobile robots." Thesis, Montpellier, 2017. http://www.theses.fr/2017MONTS090/document.

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Les robots mobiles à roues orientables gagnent de la mobilité en employant des roues conventionnelles entièrement orientables, comportant deux joints actifs, un pour la direction et un autre pour la conduite. En dépit d'avoir seulement un degré de mobilité (DOM) (défini ici comme degrés de liberté instantanément autorisés DOF), correspondant à la rotation autour du centre de rotation instantané (ICR), ces robots peuvent effectuer des trajectoires planaires complexes de $ 2D $. Ils sont moins chers et ont une capacité de charge plus élevée que les roues non conventionnelles (par exemple, Sweedish ou Omni-directional) et, en tant que telles, préférées aux applications industrielles. Cependant, ce type de structure de robot mobile présente des problèmes de contrôle textit {basic} difficiles de la coordination de la direction pour éviter les combats d'actionneur, en évitant les singularités cinématiques (ICR à l'axe de la direction) et les singularités de représentation (du modèle mathématique). En plus de résoudre les problèmes de contrôle textit {basic}, cette thèse attire également l'attention et présente des solutions aux problèmes de textit {niveau d'application}. Plus précisément, nous traitons deux problèmes: la première est la nécessité de reconfigurer "de manière discontinue" les articulations de direction, une fois que la discontinuité dans la trajectoire du robot se produit. Une telle situation - la discontinuité dans le mouvement du robot - est plus susceptible de se produire de nos jours, dans le domaine émergent de la collaboration homme-robot. Les robots mobiles qui fonctionnent à proximité des travailleurs humains en mouvement rapide rencontrent généralement une discontinuité dans la trajectoire calculée en ligne. Le second apparaît dans les applications nécessitant que l'angle de l'angle soit maintenu, certains objets ou fonctionnalités restent dans le champ de vision (p. Ex., Pour les tâches basées sur la vision) ou les changements de traduction. Ensuite, le point ICR est nécessaire pour déplacer de longues distances d'un extrême de l'espace de travail à l'autre, généralement en passant par le centre géométrique du robot, où la vitesse du robot est limitée. Dans ces scénarios d'application, les contrôleurs basés sur l'ICR à l'état de l'art conduiront à des comportements / résultats insatisfaisants. Dans cette thèse, nous résolvons les problèmes de niveau d'application susmentionnés; à savoir la discontinuité dans les commandes de vitesse du robot et une planification meilleure / efficace pour le contrôle du mouvement du point ICR tout en respectant les limites maximales de performance des articulations de direction et en évitant les singularités cinématiques et représentatives. Nos résultats ont été validés expérimentalement sur une base mobile industrielle
Steerable wheeled mobile robots gain mobility by employing fully steerable conventional wheels, having two active joints, one for steering, and another for driving. Despite having only one degree of mobility (DOM) (defined here as the instantaneously accessible degrees of freedom DOF), corresponding to the rotation about the instantaneous center of rotation (ICR), such robots can perform complex $2D$ planar trajectories. They are cheaper and have higher load carrying capacity than non-conventional wheels (e.g., Sweedish or Omni-directional), and as such preferred for industrial applications. However, this type of mobile robot structure presents challenging textit{basic} control issues of steering coordination to avoid actuator fighting, avoiding kinematic (ICR at the steering joint axis) and representation (from the mathematical model) singularities. In addition to solving the textit{basic} control problems, this thesis also focuses attention and presents solutions to textit{application level} problems. Specifically we deal with two problems: the first is the necessity to "discontinuously" reconfigure the steer joints, once discontinuity in the robot trajectory occurs. Such situation - discontinuity in robot motion - is more likely to happen nowadays, in the emerging field of human-robot collaboration. Mobile robots working in the vicinity of fast moving human workers, will usually encounter discontinuity in the online computed trajectory. The second appears in applications requiring that some heading angle is to be maintained, some object or feature stays in the field of view (e.g., for vision-based tasks), or the translation verse changes. Then, the ICR point is required to move long distances from one extreme of the workspace to the other, usually passing by the robot geometric center, where the feasible robot velocity is limited. In these application scenarios, the state-of-art ICR based controllers will lead to unsatisfactory behavior/results. In this thesis, we solve the aforementioned application level problems; namely discontinuity in robot velocity commands, and better/efficient planning for ICR point motion control while respecting the maximum steer joint performance limits, and avoiding kinematic and representational singularities. Our findings has been validated experimentally on an industrial mobile base
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Luh, Cheng-Jye 1960. "Hierarchical modelling of mobile, seeing robots." Thesis, The University of Arizona, 1989. http://hdl.handle.net/10150/276998.

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This thesis describes the implementation of a hierarchical robot simulation environment which supports the design of robots with vision and mobility. A seeing robot model applies a classification expert system for visual identification of laboratory objects. The visual data acquisition algorithm used by the robot vision system has been developed to exploit multiple viewing distances and perspectives. Several different simulations have been run testing the visual logic in a laboratory environment. Much work remains to integrate the vision system with the rest of the robot system.
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Switzer, Barbara T. "Robotic path planning with obstacle avoidance /." Online version of thesis, 1993. http://hdl.handle.net/1850/11712.

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Baba, Akihiko. "Robot navigation using ultrasonic feedback." Morgantown, W. Va. : [West Virginia University Libraries], 1999. http://etd.wvu.edu/templates/showETD.cfm?recnum=677.

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Thesis (M.S.)--West Virginia University, 1999.
Title from document title page. Document formatted into pages; contains viii, 122 p. : ill. Includes abstract. Includes bibliographical references (p. 57-59).
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Beinhofer, Maximilian [Verfasser], and Wolfram [Akademischer Betreuer] Burgard. "Landmark placement for mobile robot navigation = Landmarkenplatzierung zur Optimierung der Navigation mobiler Roboter." Freiburg : Universität, 2014. http://d-nb.info/1114829420/34.

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Pazdera, Miroslav. "Hierarchické řízení vícesměrového robota." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2009. http://www.nusl.cz/ntk/nusl-228696.

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The main focus of this diploma thesis is to design controlling system for robotic chassis moving on horizontal bolt nut of globular elements. This thesis includes analysis of movements of the chassis and definition of instructions for controlling level. Instructions for controlling level are compiled in constructed simulation programme. This thesis also contains design of electronic components and requirements for electronics of controlling subsystems.
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Yang, Hai. "Etude d’un système de fabrication agile mobile pour composants de grande taille." Thesis, Montpellier 2, 2012. http://www.theses.fr/2012MON20042/document.

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Les robots industriels, bien connus pour être des systèmes de fabrication flexibles et agiles, atteignent leurs limites lorsqu'il s'agit d'effectuer des tâches sur des pièces de grande taille (par exemple: les pièces longues et minces de l'industrie aéronautique). Pour ce type des tâches, les solutions existantes sont à leurs limites: les bras manipulateurs à base fixe souffrent d'un espace de travail trop limité; les bras manipulateurs montés sur véhicule ne sont pas assez précis; les machines-outils conventionnelles doivent être conçus à méga-échelle (plusieurs dizaines de mètres). Dans la cadre de cette thèse de doctorat, nous avons proposé des solutions robotiques innovantes qui combinent la capacité de marcher (ou de grimper) sur la pièce (ou sur le montage d'usinage) avec la capacité d'usiner. De l'analyse de la topologie et de la mobilité à la modélisation géométrique et cinématique, ainsi que la proposition d'algorithmes de contrôle innovants, des robots ont été proposés et étudiés pour la réalisation des tâches d'usinage ainsi que des tâches de locomotion. Un prototype a été construit qui témoigne de la pertinence de ce concept innovant. Il repose sur une architecture parallèle à actionnement redondant (8 moteurs pour 6 degrés de liberté) et combine moteurs, freins, dispositifs de bridage et de nombreux capteurs de position. Le prototype peut se fixer sur le montage d'usinage, réaliser ses tâches de fabrication, puis modifier sa configuration pour devenir un robot marcheur capable d'atteindre la zone de travail suivante
Industrial robots, well known as flexible and agile manufacturing systems, reach their limits when dealing with very large workpieces (e.g.: very long and slender parts found in aeronautics industry). For such tasks, existing solutions are at their limits: stationary manipulator arms suffer from a too limited workspace; manipulators mounted on a vehicle are not accurate enough; classical machine-tools must be designed at mega-scale (several tens of meters). This thesis work aims at offering an innovative robotic solution that combines the ability to walk (or climb) on the workpiece (or on the tooling that supports the workpieces) together with manufacturing ability. From the topology and mobility analysis to the geometrics and kinematics modeling, as well as innovative control algorithms proposition, the proposed mobile manufacturing robots have been studied for achieving both machining and locomotion tasks. A prototype has been built to show the concept effectiveness . It is based on a parallel mechanism with actuation redundancy (8 motors for 6 degrees-of-freedom), combining motors, brakes, clamping devices and numerous position sensors. The robot can clamp itself on the manufacturing tooling, and then change its configuration to become a walking robot able to reach the next working area
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Books on the topic "Mobilní roboty"

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Buratowski, Tomasz. Mobile robots - selected issues: Mobilne roboty - zagadnienia wybrane. Krakow: AGH University of science and Technology Press, 2013.

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M, Flynn Anita, ed. Mobile robots: Inspiration to implementation. Wellesley, Mass: A.K. Peters, 1993.

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L, Jones Joseph. Mobile robots: Inspiration to implementation. 2nd ed. Natick, Mass: A.K. Peters, 1999.

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Robot cognition and navigation: An experiment with mobile robots. Berlin: Springer, 2007.

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Cook, Gerald. Mobile Robots. Hoboken, NJ, USA: John Wiley & Sons, Inc., 2011. http://dx.doi.org/10.1002/9781118026403.

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Mobile robots. Englewood, NJ: Technical Insights, 1988.

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Indusegaran, M. Mobile robot base. London: University of East London, 1994.

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Indusegaran, M. Mobile robot base. London: University of East London, 1994.

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Mobile ad hoc robots and wireless robotic systems: Design and implelmentation. Hershey, PA: Information Science Reference, 2013.

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Hertzberg, Joachim, Kai Lingemann, and Andreas Nüchter. Mobile Roboter. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-01726-1.

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Book chapters on the topic "Mobilní roboty"

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Youssef, Khaoula, Kouki Yamagiwa, Ravindra Silva, and Michio Okada. "ROBOMO: Towards an Accompanying Mobile Robot." In Social Robotics, 196–205. Cham: Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-11973-1_20.

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Fahimi, Farbod. "Mobile Robots." In Autonomous Robots, 1–58. Boston, MA: Springer US, 2008. http://dx.doi.org/10.1007/978-0-387-09538-7_6.

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Poole, Harry H. "Mobile Robots." In Fundamentals of Robotics Engineering, 189–220. Dordrecht: Springer Netherlands, 1989. http://dx.doi.org/10.1007/978-94-011-7050-5_8.

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Todd, D. J. "Mobile Robots." In Fundamentals of Robot Technology, 171–204. Dordrecht: Springer Netherlands, 1986. http://dx.doi.org/10.1007/978-94-011-6768-0_9.

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Mihelj, Matjaž, Tadej Bajd, Aleš Ude, Jadran Lenarčič, Aleš Stanovnik, Marko Munih, Jure Rejc, and Sebastjan Šlajpah. "Mobile Robots." In Robotics, 189–208. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-72911-4_13.

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González Rodríguez, Ángel Gaspar, and Antonio González Rodríguez. "Mobile Robots." In Advanced Mechanics in Robotic Systems, 41–57. London: Springer London, 2011. http://dx.doi.org/10.1007/978-0-85729-588-0_3.

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Villanueva-Chacón, Nilda G., and Edgar A. Martínez-García. "Distributed Robots Path/Tasks Planning on Fetch Scheduling." In Advances in Computational Intelligence and Robotics, 818–50. IGI Global, 2015. http://dx.doi.org/10.4018/978-1-4666-7387-8.ch026.

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A highly concurrent task-planner for distributed multi-robot systems in dynamical industrial feed-lines is presented in this chapter. The system deals with two main issues: a) a path-planning model and b) a robotic-tasks scheduler. A set of kinematic control laws based on directional derivatives model the dynamical robots interaction. Distributed wheeled mobile robots perform the execution of autonomous tasks concurrently and synchronized just in time. A planner model for distributed tasks to autonomously reconfigure and synchronize online change priority missions by the robotic primitives—sense, plan, and act—are proposed. The robotic tasks concern carry-and-fetch to different goals, and dispatching materials. Numerical simulation of mathematical formulation and real experiments illustrate the parallel computing capability and the distributed robot's behavior. Results depict robots dealing with highly concurrent tasks and dynamical events through a parallel scheme.
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Fraser, Gordon, Gerald Steinbauer, Jörg Weber, and Franz Wotawa. "Robust Intelligent Control of Mobile Robots." In Mobile Computing, 597–617. IGI Global, 2009. http://dx.doi.org/10.4018/978-1-60566-054-7.ch052.

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An appropriate control architecture is a crucial premise for successfully achieving truly autonomous mobile robots. The architecture should allow for a robust control of the robot in complex tasks, while it should be flexible in order to operate in different environments pursuing different tasks. This chapter presents a control framework that is able to control an autonomous robot in complex realworld tasks. The key features of the framework are a hybrid control paradigm that incorporates reactive, planning and reasoning capabilities, a flexible software architecture that enables easy adaptation to new tasks and a robust task execution that makes reaction to unforeseen changes in the task and environment possible. Finally, the framework allows for detection of internal failures in the robot and includes self-healing properties. The framework was successfully deployed in the domain of robotic soccer and service robots. The chapter presents the requirements for such a framework, how the framework tackles the problems arising from the application domains, and results obtained during the deployment of the framework.
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"Robot Motion Models." In Simultaneous Localization and Mapping for Mobile Robots, 140–73. IGI Global, 2013. http://dx.doi.org/10.4018/978-1-4666-2104-6.ch005.

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This is the first chapter of the second section, a section devoted to mobile robot localization. Before presenting the general Bayesian framework for that problem at chapter 7, it is first required to study the different probabilistic models of robot motion. This chapter explores some of the reasons why any real robot cannot move as perfectly as planned, thus demanding a probabilistic model of the robot actions—mainly, its movements. Special emphasis is put on the most common ground wheeled robots, although other configurations (including non-robotic ones) with more degrees of freedom, such as arbitrarily-moving hand-held sensors or aerial vehicles, are also mentioned. The best-known approximate probabilistic models for robot motion are provided and justified.
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Bock, Gregory A., Ryan T. Hendrickson, Jared Allen Lamkin, Brittany Dhall, Jing Wang, and In Soo Ahn. "Experimental Validation of Distributed Cooperative Control of Multiple Mobile Robots via Local Information Exchange." In Robotic Systems, 743–64. IGI Global, 2020. http://dx.doi.org/10.4018/978-1-7998-1754-3.ch039.

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In this paper, we present the experimental testing results of distributed cooperative control algorithms for multiple mobile robots with limited sensing/communication capacity and kinematic constraints. Rendezvous and formation control problems are considered, respectively. To deal with the inherent kinematic constraints with robot model, the input/output linearization via feedback is used to convert the nonlinear robot model into a linear one, and then the distributed cooperative control algorithms are designed via local information exchange among robots. Extensive experiments using Quanser's QBot2 mobile robot platforms are conducted to validate the effectiveness of the proposed distributed cooperative control algorithms. Specifically, the robot's onboard Kinect vision sensor is applied to solve the localization problem, and the information exchange is done through an ad-hoc peer-to-peer wireless TCP/IP connection among neighboring robots. Collision avoidance problem is also addressed based on the utilization of fuzzy logic rules.
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Conference papers on the topic "Mobilní roboty"

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Dharmawan, Audelia Gumarus, Blake William Clark Sedore, Gim Song Soh, Shaohui Foong, and Kevin Otto. "Robot Base Placement and Kinematic Evaluation of 6R Serial Manipulators to Achieve Collision-Free Welding of Large Intersecting Cylindrical Pipes." In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/detc2015-47038.

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This paper presents a systematic approach for identifying feasible robot base placement regions within a workcell, and evaluating performance of industrial robots for the design of mobile industrial robotic system to perform collision-free automated welding of large intersecting cylindrical pipe structures. First, a mathematical model based on the geometry of intersecting cylindrical pipes is used to generate the welding task and torch orientation. Next, collision detection is performed using line geometry and possible robot base positions are identified and rated according to the manipulability measure. This yields a graph of feasible robot base placement regions that perform collision-free welding rated in terms of its dexterity. Finally, a task metric based on kinematic measures to evaluate the robot’s performance is proposed and discussed. An implementation of this approach for evaluating two different 6R industrial robots for welding jack-up rig structures was used as examples. This technique will also be applicable for designing mobile robotic system for tasks other than welding which may require trajectory-following end-effector motion uninterrupted by objects within the workspace such as painting, taping, blasting, cutting, etc.
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Yao, Albert W. L., and H. T. Liao. "Development of an Intelligent Grey-RSS Navigation System for Mobile Robots." In ASME/ISCIE 2012 International Symposium on Flexible Automation. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/isfa2012-7175.

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This study aims at developing an intelligent navigation system for mobile robots to eliminate the cumulative errors caused by using a conventional optical encoder. The optical encoder for mobile robots is supplanted by an intelligent Grey-RSS navigation system (IGRNS) with a RFID system embedded with a RSS (Received Signal Strength) location estimator and a Grey predictor for robot rotation angle prediction. The RFID system identifies the target with active RFID tag. The RSS location estimator then calculates the possible route of robot. The Grey controller optimizes the traveling route quickly. The simulation results show that the proposed IGRNS can reduce robot’s unstable rotation when locating the target. With IGRNS, the mobile robot takes fewer steps to reach target quickly. The performance of IGRNS is better than the one with the RSS navigation system alone.
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Zhou, Yu. "A Distributed Self-Deployment Algorithm Suitable for Multiple Nonholonomic Mobile Robots." In ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/detc2008-50056.

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This paper introduces a novel distributed algorithm for deploying multi-robot systems, consisting of mobile robots with onboard sensing and wireless communication of limited ranges, to approach the desired sensory coverage while maintaining communication connection over targeted 2D environments. A virtual potential energy is defined for each mobile robot according to the difference between the actual and desired configurations in the neighborhood of the robot, which generates the actuating force to move the robot towards the desired local coverage. The Rayleigh’s dissipation function is adopted to provide the necessary damping mechanism which maintains the stability of the deployment motion for each robot. The equation of deployment motion for each mobile robot is then derived from the Hamilton’s principle using the method of the variational calculus, which defines the movement of the robot to approach the desired local configuration. The formulation of the variational calculus also provides a convenience way to incorporate the nonholonomic constraint arising in wheeled robots. Since the equation of deployment motion for each robot depends on only the robot’s own kinematic state and its detectable positional relationship with nearby objects, the proposed algorithm decentralizes the multi-robot deployment problem into the motion control of individual robots. Simulation results show the feasibility of the proposed approach in guiding the deployment of multi-robot systems.
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Georgiou, Evangelos, Jian S. Dai, and Michael Luck. "The KCLBOT: The Challenges of Stereo Vision for a Small Autonomous Mobile Robot." In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/detc2012-70503.

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In small mobile robot research, autonomous platforms are severely constrained in navigation environments by the limitations of accurate sensory data to preform critical path planning, obstacle avoidance and self-localization tasks. The motivation for this work is to enable small autonomous mobile robots with a local stereo vision system that will provide an accurate reconstruction of a navigation environment for critical navigation tasks. This paper presents the KCLBOT, which was developed in King’s College London’s Centre for Robotic Research and is a small autonomous mobile robot with a stereo vision system.
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Leger, Chris, and John Bares. "Automated Synthesis and Optimization of Robot Configurations." In ASME 1998 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1998. http://dx.doi.org/10.1115/detc98/mech-5945.

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Abstract We present an extensible system for synthesizing and optimizing robot configurations. The system uses a flexible representation for robot configurations based on parameterized modules; this allows us to synthesize mobile and fixed-base robots, including robots with multiple or branching manipulators and free-flying robots. Synthesis of modular robots is also possible with our representation. We use an optimization algorithm based on genetic programming. A distributed architecture is used to spread heavy computational loads across multiple workstations. We take a task-oriented approach to synthesis in which robots are evaluated on a designer-specified task in simulation; flexible planning and control algorithms are thus required so that a wide variety of robots can be evaluated. Our system’s extensibility stems from an object-oriented software architecture that allows new modules, metrics, controllers, and tasks to be easily added. We present two example synthesis tasks: synthesis of a robotic material handler, and synthesis of an antenna pointing system for a mobile robot. We analyze several key issues raised by the experiments and show several important ways in which the system can be extended and improved.
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Nestinger, Stephen S., Bo Chen, and Harry H. Cheng. "A Mobile Agent-Based Framework for Flexible Control of Multi-Robotic Systems." In ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2007. http://dx.doi.org/10.1115/detc2007-35750.

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Modern manufacturing systems are increasingly becoming highly dynamic due to rapid changes in market and government regulations, as well as the integration of emerging technologies. To address the challenges of uncertainty, a flexible platform is critically needed for developing a new generation of manufacturing systems. This paper presents a mobile agent-based framework that supports dynamic deployment of control algorithms and operations in multi-robotic systems. The framework is based on a mobile agent system called Mobile-C. It uses Ch, an interpretive C/C++ environment, for robot programming. Since Ch has been ported to most existing computer platforms, the framework can control robots that work in different operating systems. Using a robot package in Ch as a middleware, control programs are portable to heterogeneous robots and associated mechatronic devices. The presented framework has been implemented and validated in an experimental robotic cell that consists of a Puma 560, an IBM 7575, and a conveyor system. The results show that the mobile agent approach can effectively deploy and execute new control algorithms and operations as mobile agents on any sub-system in a network.
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Greenberg, Jason N., and Xiaobo Tan. "Dynamic Prediction-Based Optical Localization of a Robot During Continuous Movement." In ASME 2020 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/dscc2020-3288.

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Abstract Localization of mobile robots is essential for navigation and data collection. This work presents an optical localization scheme for mobile robots during the robot’s continuous movement, despite that only one bearing angle can be captured at a time. In particular, this paper significantly improves upon our previous works where the robot has to pause its movement in order to acquire the two bearing angle measurements needed for position determination. The latter restriction forces the robot to work in a stop-and-go mode, which constrains the robot’s mobilitty. The proposed scheme exploits the velocity prediction from Kalman filtering, to properly correlate two consecutive measurements of bearing angles with respect to the base nodes (beacons) to produce location measurement. The proposed solution is evaluated in simulation and its advantage is demonstrated through the comparison with the traditional approach where the two consecutive angle measurements are directly used to compute the location.
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Luo, Ming, Mahdi Agheli, and Cagdas D. Onal. "Theoretical Modeling of a Pressure-Operated Soft Snake Robot." In ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/detc2014-35340.

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This paper addresses the theoretical modeling of the dynamics of a pressure-operated soft snake robot. An accurate dynamic model is a fundamental requirement for optimization, control, navigation, and learning algorithms for a mobile robot that can undergo serpentine locomotion. Such algorithms can be readily implemented for traditional rigid robots, but remain a challenge for nonlinear and low-bandwidth soft robotic systems. A framework to solve the 2-D modeling problem of a soft robotic snake is detailed with a general approach applicable to most pressure-operated soft robots that are developed by a modular kinematic arrangement of bending-type fluidic elastomer actuators. The model is simulated using measured physical parameters of the robot and workspace. The theoretical results are verified through a proof-of-concept comparison to locomotion experiments on a flat surface with measured frictional properties. Experimental results indicate that the proposed model describes the motion of the robot.
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Bosscher, Paul, Robert L. Williams, and Melissa Tummino. "A Concept for Rapidly-Deployable Cable Robot Search and Rescue Systems." In ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2005. http://dx.doi.org/10.1115/detc2005-84324.

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This paper introduces a new concept for robotic search and rescue systems. This system uses a rapidly deployable cable robot to augment existing search and rescue mobile robots. This system can greatly increase the range of mobile robots as well as provide overhead views of the disaster site, allowing rescue workers to reach survivors as quickly as possible while minimizing the danger posed to rescue workers. In addition to the system concept, this paper presents a novel kinematic structure for the cable robot, allowing simple translation-only motion (with moment-resisting capability) and easy forward and inverse kinematics for a 3-DOF spatial manipulator. Also, a deployment sequence is described, a rapid calibration algorithm is presented and the workspace of the manipulator is investigated.
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Khan, Muhammad Tahir, and Clarence de Silva. "Immune System-Inspired Dynamic Multi-Robot Coordination." In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/detc2009-87715.

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This paper investigates multi-robot coordination for the deployment of autonomous mobile robots in order to carry out a specific task. A key to utilizing of the full potential of cooperative multi-robot systems is effective and efficient multi-robot coordination. The paper presents a novel method of multi-robot coordination based on an Artificial Immune System. The developed approach relies on Jern’s Immune Network Theory, which concerns how an antibody stimulates or suppresses another antibody and recognizes non-self antigens. In the present work, the robots are analogous to antibodies and the robotic task is analogous to an antigen in a biological immune system. Furthermore, stimulation and suppression in an immune system correspond to communication among robots. The artificial immune system will select the appropriate number of antibodies autonomously to eliminate the antigens. The developed method of multirobot coordination is verified by computer simulation.
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Reports on the topic "Mobilní roboty"

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Leonard, John J. Cooperative Autonomous Mobile Robots. Fort Belvoir, VA: Defense Technical Information Center, July 2005. http://dx.doi.org/10.21236/ada463215.

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Evans, John M. Low Cost Mobile Robot. Fort Belvoir, VA: Defense Technical Information Center, October 1987. http://dx.doi.org/10.21236/ada188507.

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Pastore, Tracy H., Mitchell Barnes, and Rory Hallman. Mobile Robot Knowledge Base. Fort Belvoir, VA: Defense Technical Information Center, January 2005. http://dx.doi.org/10.21236/ada433772.

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Blackwell, Mike. The Uranus Mobile Robot. Fort Belvoir, VA: Defense Technical Information Center, September 1990. http://dx.doi.org/10.21236/ada236593.

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Weisbin, C. (Workshop on mobile robot issues). Office of Scientific and Technical Information (OSTI), May 1987. http://dx.doi.org/10.2172/6782429.

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Flynn, Anita M. Redundant Sensors for Mobile Robot Navigation. Fort Belvoir, VA: Defense Technical Information Center, September 1985. http://dx.doi.org/10.21236/ada161087.

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McGovern, D. E. Mobile robot vehicles for physical security. Office of Scientific and Technical Information (OSTI), July 1987. http://dx.doi.org/10.2172/6449648.

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Sugihara, Kazuo, and Ichiro Suzuki. Distributed Algorithms for Controlling Multiple Mobile Robots. Fort Belvoir, VA: Defense Technical Information Center, January 1994. http://dx.doi.org/10.21236/ada283975.

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Shneier, Michael, and Roger Bostelman. Literature Review of Mobile Robots for Manufacturing. National Institute of Standards and Technology, May 2015. http://dx.doi.org/10.6028/nist.ir.8022.

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Graves, Kevin P. Continuous Localization and Navigation of Mobile Robots. Fort Belvoir, VA: Defense Technical Information Center, May 1997. http://dx.doi.org/10.21236/ada418467.

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