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1
Utama, Yoga Alif Kurnia, Arief Budijanto, and Aditya K. S. "Desain Pengendalian Koordinat Gerak Robot Nirkabel Cerdas Menggunakan Aplikasi Android Melalui Akselerasi Gerakan Smartphone." Electrician 12, no. 1 (July 18, 2018): 10. http://dx.doi.org/10.23960/elc.v12n1.2068.
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Intisari — Perkembangan teknologi saat ini banyak mengarah kepada dunia robotika. Saat ini robot menjadi alat bantu untuk menyelesaikan pekerjaan manusia sehari-hari. Peranan robot juga sudah mulai mengganti peran manusia dalam dunia industri seperti pada industri mobil, sepeda motor, dan lain-lain. Oleh karena itu tidak heran, penelitian mengenai robot, semakin lama semakin bertambah. Banyak sekali jenis robot yang telah diciptakan oleh manusia, seperti robot manipulator atau yang biasa disebut robot lengan yang banyak diaplikasikan untuk membawa barang. Ada pula robot humanoid, yang merupakan robot berbentuk manusia, yang saat ini telah dikembangkan untuk membawa orang sakit, dan mobile robot yang sekarang banyak digunakan untuk menjelajah suatu daerah. Dalam beberapa penelitian robot saat ini, penggunaan teknologi mobile robot sebagai robot penjelajah menjadi fokus utama peneliti. Sistem navigasi pada mobile robot merupakan salah satu permasalahan yang sering dihadapi. Oleh karena itu, penelitian ini mencoba untuk mengembangkan suatu cara pengendalian navigasi robot untuk bergerak pada suatu koordinat tertentu dengan menggunakan aplikasi android pada smartphone. Dari hasil pengujian yang telah dilakukan dapat dilihat bahwa rata-rata eror yang telah terjadi selama pergerakan pada sumbu x adalah 0.27 cm sedangkan pada sumbu y adalah 0.28 cm dimana pergerakan robot ini menggunakan bluetooth dengan baudrate sebesar 57600 bps.Kata kunci — Accelerometer, Android, Arduino, Bluetooth, Robot Abstract — Today, development of technology leads to the world of robotics. Currently the robot is a tool to complete the daily work of man. The role of robots has also begun to replace human roles in the industrial world such as in the car industry, motorcycles, and the others. Therefore, it is not surprisingly, research on robots was increased. There are many of types of robots that have been created by humans, such as robot manipulators or commonly called arm robots that are widely applied to carry goods. There is also a humanoid robot, which is a human-shaped robot, which has been developed to bring sick people, and mobile robots are widely used to explore some areas. In recent robotic studies, the mobile robot technology uses as an exploratory robot is the main focus of the researcher. Navigation system in mobile robot is one of the problems that often faced. Therefore, this research tries to develop a way of controlling the navigation of robots to move on a certain coordinate by using android applications on smartphones. From the results of tests that have been done can be seen that the average error that has occurred during the movement on the x axis is 0.27 cm while on the y-axis is 0.28 cm where the movement of this robot using bluetooth with baudrate of 57600 bps.Keywords— Accelerometer, Android, Arduino, Bluetooth, Robot
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Tomizawa, Tetsuo, Masato Shibuya, Ryodo Tanaka, and Takeshi Nishida. "Developing a Remotely Operated Portable Mobile Robot." Journal of Robotics and Mechatronics 30, no. 4 (August 20, 2018): 584–90. http://dx.doi.org/10.20965/jrm.2018.p0584.
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The Tsukuba Challenge is one of the few technical events where it is permitted to conduct demonstrations of autonomous mobile robots on a public road in a city. Thus, when limited trial runs are available several times per year, domestic and foreign teams must bring robots to the venue and conduct experiments using robots and observation instruments. For a team located far away from the venue, the cost of transporting equipment and staff each time becomes prohibitive. In this research, to reduce the cost of transporting robots and personnel, we design and develop a mobile robot platform that is easy to transport and deploy. Additionally, to allow remote experts to generate maps and routes without visiting the site, we construct a remote operating system that operates over the internet. In this paper, we describe the portable mobile robot platform and the software configuration needed for remote operation. Then, we report the results of our verification test.
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Bakirci, Murat. "COMPLETE LOCOMOTION ANALYSIS OF A SMALL DIFFERENTIALDRIVE MOBILE ROBOTIC PLATFORM." International Journal of Advanced Research 9, no. 09 (September 30, 2021): 53–62. http://dx.doi.org/10.21474/ijar01/13374.
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Mobile robots are becoming a part of more and more research areas due to their structural advantages and the increase in usage areas. Differential drive mobile robots are among the most preferred of this type of robots due to the convenience that they provide in engineering studies. It is quite important to test and structurally investigate primary parts such as motors and its sensors before being used in research applications. Before proceeding to further studies, it is very useful to do such tests as they may provide critical information about the robot which can be quite beneficial in terms of time, effort, and cost. To achieve this task, variety of methods are available in the literature such as structural locomotion tests and system identifiaction. In the first part of this study, locomotion tests of a small mobile robot driven by servo motors and operating with a single microcontroller was performed using the velocity propulsion mode. Three different predefined routes were determined for the robot and the accuracy of the robot moving along these routes was investigated. Through these tests, it is aimed to examine how the robot interprets the basic movements such as rectilinear forward motion, curvilinear motion, and rotation around its own axis. The next part focuses on the system identification of the robot. A data-driven model for the robotic platform was developed to make a mobile robot perform the desired movements and system identification. Various step input commands were sent to the robot under consideration and the responses of the robot wheels to these inputs were examined. Circular movements were made to the robot with a range of velocity input values and the relationship between input and output was examined for both wheels of the robot. In the locomotion tests, it was observed that the robot completed the predetermined routes with minor errors. As a result of these tests, theoretical calculations and experimental results were compared and the reasons for the error parameters were discussed. Through system identification tests, it was observed that the right wheel of the robot was more consistent and produced closer to the expected value for each test performed.
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Chand, Aneesh, and Shin‘ichi Yuta. "Road-Crossing Landmarks Detection by Outdoor Mobile Robots." Journal of Robotics and Mechatronics 22, no. 6 (December 20, 2010): 708–17. http://dx.doi.org/10.20965/jrm.2010.p0708.
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Notably, a salient shortfall of most outdoor mobile robots is their lack of ability to autonomously cross roads while traveling along pedestrian sidewalks in an urban outdoor environment. If it has the ability to intuitively cross a road, the robot could then travel longer distances and more complex routes than originally possible. To this effect, the authors have been developing technologies that attempt to endow such a road-crossing function to outdoor mobile robots. In this paper, a system for road-crossing landmarks detection and localization for outdoor mobile robots is presented. We show how a robot equipped with a single monocular camera and laser range finder sensor can accurately detect, identify and localize roadcrossing landmarks such as pedestrian push button boxes, zebra crossings and pedestrian lights that the robots needs to be aware of and use in order to autonomously cross roads. In addition, experimental results and future plans are discussed.
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Chand, Aneesh N., and Shin’ichi Yuta. "Autonomous Pedestrian Push Button Activation by Outdoor Mobile Robot in Outdoor Environments." Journal of Robotics and Mechatronics 25, no. 3 (June 20, 2013): 484–96. http://dx.doi.org/10.20965/jrm.2013.p0484.
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The authors have developed an outdoor mobile robot that has the ability to cross roads at an intersection or pedestrian crossing fully autonomously while traveling along sidewalks in an urban environment. This gives the robot the capability to travel longer and complex routes as the robot is able to cross a road and continue with its path. The developed robot has the unique ability to autonomously approach and activate the pedestrian push button with a mechanical finger. We first briefly describe the overall operation of such a road crossing robot. The rest of this paper then discusses in detail how the robot can meticulously navigate to and activate the pedestrian push button with the on-board finger. The contribution of this work is that although there are robots existing that perform precision docking or button activation, this robot is one of the few that can perform such an action in a real world outdoor environment that is completely unmodified. We prove this by deploying the robot in a real world road-crossing and it was successfully able to engage the pedestrian push button.
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Paidi, Zulfikri, Nurzaid Muhd Zain, Mahfudzah Othman, and Siti Hajar Mohd Mokhtar. "Speed Calibration for Mobile Robot As Prototypes to Smart Vehicles." Journal of Computing Research and Innovation 5, no. 4 (November 2, 2020): 8–17. http://dx.doi.org/10.24191/jcrinn.v5i4.168.
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Many studies have been done to find the best formula in building a vehicle with self - driving ability. In order for the vehicle to be smart and able to drive on its own, several factors need to be improved. One of the factors is the ability to make decisions. This research conducted experiments on small - scale mobile robots - also known as robot cars - as prototypes to smart vehicles to find the appropriate value for the driving speed of the vehicle after calibration. The study was conducted using Arduino board hardware, remote robot cars, remote controls for remote robot ca rs, and rotary encoders. Three main experiments were completed to test the calibrated speed values, namely first test on straight line, test on corner lane, and last test on combination of straight path & corner lane. Simulations for road routes are also m ade using cardboard, sandpaper and carpet. The results of experimental analysis found that as the speed of a robot car increases, the longer it takes to make a single wheel rotation.
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Martínez Santa, Fernando, Fredy Hernán Martínez Sarmiento, and Edwar Jacinto Gómez. "Using the delaunay triangulation and voronoi diagrams for navigation in observable environments." Revista Tecnura 18 (December 1, 2014): 81. http://dx.doi.org/10.14483/udistrital.jour.tecnura.2014.se1.a06.
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The navigation system of mobile robot should have the capability of environment cognition, action decision, motion control, and state monitoring. This paper proposes a prediction algorithm route based on Voronoi diagrams, applicable for mobile robots with range sensors operating in indoor and unknown environments. The proposed control law is a hybrid navigation strategy composed of Voronoi diagrams and Delaunay triangulation, which is used to avoid the routes that may eventually block the advance of the robot. An efficient implementation of the control law is presented. Simulation results validate the efficacy of the proposed modified control law.
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Kobayashi, Yuichi, Yuta Sato, and Manabu Gouko. "Division of Iterative-Transportation Based on Local Observation by Multiple Mobile Robots." Journal of Advanced Computational Intelligence and Intelligent Informatics 16, no. 3 (May 20, 2012): 462–68. http://dx.doi.org/10.20965/jaciii.2012.p0462.
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This paper deals with a framework of decentralized approach to division of labor by multiple mobile robots. An iterative-transportation task by multiple robots with multiple sets of starts (pick-up place of the object) and goals (put down place) is considered as the task. On each route between a start and a goal, the efficiency of transportation improves when the number of robots increases. Due to jams, however, excessive number of robots on the same route causes inefficiency. We propose a control law of each robot to choose an appropriate route so as to optimize the total efficiency of the transportation, where each robot utilizes information which can be obtained only by local observation (without any explicit communication among robots). The proposed control is based on the estimation of the number of robots on the routes in the future. In simulation, it was verified that the proposed control law realized 96% efficiency of the fully centralized control by appropriately choosing the route, compared with the case where global information can be utilized.
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Nagla, KS, Moin Uddin, and Dilbag Singh. "Dedicated Filter for Robust Occupancy Grid Mapping." IAES International Journal of Robotics and Automation (IJRA) 4, no. 1 (March 1, 2014): 82. http://dx.doi.org/10.11591/ijra.v4i1.pp82-92.
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<p>Sensor based perception of the environment is an emerging area of the mobile robot research where sensors play a pivotal role. For autonomous mobile robots, the fundamental requirement is the convergent of the range information in to high level internal representation. Internal representation in the form of occupancy grid is commonly used in autonomous mobile robots due to its various advantages. There are several sensors such as vision sensor, laser rage finder, and ultrasonic and infrared sensors etc. play roles in mapping. However the sensor information failure, sensor inaccuracies, noise, and slow response are the major causes of an error in the mapping. To improve the reliability of the mobile robot mapping multisensory data fusion is considered as an optimal solution. This paper presents a novel architecture of sensor fusion frame work in which a dedicated filter (DF) is proposed to increase the robustness of the occupancy grid for indoor environment. The technique has been experimentally verified for different indoor test environments. The proposed configuration shows improvement in the occupancy grid with the implementation of dedicated filters.</p>
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Egortsev, M. V., S. A. K. Diane, and N. D. Kaz. "Algorithmic support of the system of external observation and routing of autonomous mobile robots." Russian Technological Journal 9, no. 3 (June 28, 2021): 15–23. http://dx.doi.org/10.32362/2500-316x-2021-9-3-15-23.
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This article presents the algorithmic support of the external monitoring and routing system of autonomous mobile robots. In some cases, the practical usage of mobile robots is related to the solution of navigation problems. In particular, the position of ground robots can be secured using unmanned aerial vehicles. In the proposed approach based on the video image obtained from an external video camera located above the working area of mobile robots, the location of both robots and nearby obstacles is recognized. The optimal route to the target point of the selected robot is built, and changes in its working area are monitored. Information about the allowed routes of the robot is transmitted to third-party applications via network communication channels. Primary image processing from the camera includes distortion correction, contouring and binarization, which allows to separate image fragments containing robots and obstacles from background surfaces and objects. Recognition of robots in a video frame is based on the use of a SURF detector. This technology extracts key points in the video frame and compares them with key points of reference images of robots. Trajectory planning is implemented using Dijkstra’s algorithm. The discreteness of the trajectories obtained using the algorithm for finding a path on the graph can be compensated for on board autonomous mobile robots by using spline approximation. Experimental studies have confirmed the efficiency of the proposed approach both in the problem of recognition and localization of mobile robots and in the problem of planning safe trajectories.
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de Oliveira, Átila V. F. M., and Marcelo A. C. Fernandes. "Dynamic planning navigation strategy for mobile terrestrial robots." Robotica 34, no. 3 (July 4, 2014): 568–83. http://dx.doi.org/10.1017/s0263574714001702.
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SUMMARYThis paper proposes a new dynamic planning navigation strategy for use with mobile terrestrial robots. The strategy was applied to situations in which the environment and obstacles were unknown. After each displacement event, the robot replanned its route using a control algorithm that minimized the distance to the target and maximized the distance between the obstacles. Using a spatial localization sensor and a set of distance sensors, the proposed navigation strategy was able to dynamically plan optimum routes that were free of collisions. Simulations performed using different types of environment demonstrated that the technique offers a high degree of flexibility and robustness, and validated its potential use in real applications involving mobile terrestrial robots.
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Hentschel, M., and B. Wagner. "An Adaptive Memory Model for Long-Term Navigation of Autonomous Mobile Robots." Journal of Robotics 2011 (2011): 1–9. http://dx.doi.org/10.1155/2011/506245.
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This paper introduces an environmental representation for autonomous mobile robots that continuously adapts over time. The presented approach is inspired by human memory information processing and stores the current as well as past knowledge of the environment. In this paper, the memory model is applied to time-variant information about obstacles and driveable routes in the workspace of the autonomous robot and used for solving the navigation cycle of the robot. This includes localization and path planning as well as vehicle control. The presented approach is evaluated in a real-world experiment within changing indoor environment. The results show that the environmental representation is stable, improves its quality over time, and adapts to changes.
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Oikawa, Kazumi, and Takeshi Tsuchiya. "Navigation for a Behavior-Based Autonomous Mobile Robot." Journal of Robotics and Mechatronics 10, no. 5 (October 20, 1998): 407–12. http://dx.doi.org/10.20965/jrm.1998.p0407.
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We propose an implemented architecture that integrates possession of environmental knowledge into a reactive, behavior-based autonomous robot. As an alternative to hybrid combinations of behavior- and model-based systems, we present a fully behavior-based system that takes reactive, deliberate behavior. To get knowledge, a robot makes a the World Image, gradually constructed through experience as higher animals with self-organization do, without symbolic representation in associative memory. Since our World Image changes in direct relation to behavior, a robot navigates adaptively and reactively to its destination following a path plan based on the World Image of a dynamic environment. The path plan a robot makes is not a sequence of routes as in conventional planning, but flexible as in reactive planning. If a robot detects a failure, it reaches its destination without replanning or error recovery. Our approach makes practical a behavior-based robot already adapted to the real world.
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Lo, Shih-Yun, Shiqi Zhang, and Peter Stone. "The PETLON Algorithm to Plan Efficiently for Task-Level-Optimal Navigation." Journal of Artificial Intelligence Research 69 (October 13, 2020): 471–500. http://dx.doi.org/10.1613/jair.1.12181.
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Intelligent mobile robots have recently become able to operate autonomously in large-scale indoor environments for extended periods of time. In this process, mobile robots need the capabilities of both task and motion planning. Task planning in such environments involves sequencing the robot’s high-level goals and subgoals, and typically requires reasoning about the locations of people, rooms, and objects in the environment, and their interactions to achieve a goal. One of the prerequisites for optimal task planning that is often overlooked is having an accurate estimate of the actual distance (or time) a robot needs to navigate from one location to another. State-of-the-art motion planning algorithms, though often computationally complex, are designed exactly for this purpose of finding routes through constrained spaces.
In this article, we focus on integrating task and motion planning (TMP) to achieve task-level-optimal planning for robot navigation while maintaining manageable computational efficiency. To this end, we introduce TMP algorithm PETLON (Planning Efficiently for Task-Level-Optimal Navigation), including two configurations with different trade-offs over computational expenses between task and motion planning, for everyday service tasks using a mobile robot. Experiments have been conducted both in simulation and on a mobile robot using object delivery tasks in an indoor office environment. The key observation from the results is that PETLON is more efficient than a baseline approach that pre-computes motion costs of all possible navigation actions, while still producing plans that are optimal at the task level. We provide results with two different task planning paradigms in the implementation of PETLON, and offer TMP practitioners guidelines for the selection of task planners from an engineering perspective.
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Saito, Masanobu, Kentaro Kiuchi, Shogo Shimizu, Takayuki Yokota, Yusuke Fujino, Takato Saito, and Yoji Kuroda. "Pre-Driving Needless System for Autonomous Mobile Robots Navigation in Real World Robot Challenge 2013." Journal of Robotics and Mechatronics 26, no. 2 (April 20, 2014): 185–95. http://dx.doi.org/10.20965/jrm.2014.p0185.
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This paper describes navigation systems for autonomous mobile robots taking part in the real-world Tsukuba Challenge 2013 robot competition. Tsukuba Challenge 2013 enables any information on the route to be collected beforehand and used on the day of the challenge. At the same time, however, autonomous mobile robots should function appropriately in daily human life even in areas where they have never been before. System thus need not capture pre-driving details. We analyzed traverses in complex urban areas without prior environmental information using light detection and ranging (LIDAR). We also determined robot status, such as its position and orientation using the gauss maps derived from LIDAR without gyro sensors. Dead reckoning was combined with wheel odometry and orientation from above. We corrected 2D robot poses by matching electronics maps from the Web. Because drift inevitably causes errors, slippage and failure, etc., our robot also traced waypoints derived beforehand from the same electronics map, so localization is consistent even if we do not drive through an area ahead of time. Trajectory candidates are generated along global planning routes based on these waypoints and an optimal trajectory is selected. Tsukuba Challenge 2013 required that robots find specified human targets indicated by features released on the Web. To find the target correctly without driving in Tsukuba beforehand, we searched for point cloud clusters similar to specified human targets based on predefined features. These point clouds were then projected on the camera image at the time, and we extracted points of interest such as SURF to apply fast appearance-based mapping (FAB-MAP). This enabled us to find specified targets highly accurately. To demonstrate the feasibility of our system, experiments were conducted over our university route and over that in the Tsukuba Challenge.
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Montusiewicz, Jerzy, and Stanisław Skulimowski. "Multicriteria evaluation of the trajectory of a wheeled mobile robot – a case study." MATEC Web of Conferences 252 (2019): 09007. http://dx.doi.org/10.1051/matecconf/201925209007.
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The problem of maintaining accuracy of autonomous movement of vehicles and robots is an important element of keeping the right level of traffic safety. This applies not only to autonomous cars, but also to construction or other industry mobile robots that will soon appear in the human environment. With that in mind, the authors present a multi-criteria assessment process, which can be used to assess the qualitative and quantitative movement of such robots, in order to better identify passage errors, as well as improve their way of moving. The authors wanted to check the effect of the set power level on engines, repeatability of subsequent runs, and the impact of the level of contamination of the surface on the stability of the robot movement. The article describes the results of the robots movement assessment based on (1) the surface areas of the routes envelope, (2) the augmented average route length and (3) the number of trajectory intersections. The results obtained were compared to the research scenarios – differences in set power for motors and the state of contamination of the surface
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Cosic, Aleksandar, Marko Susic, Stevica Graovac, and Dusko Katic. "An algorithm for formation control of mobile robots." Serbian Journal of Electrical Engineering 10, no. 1 (2013): 59–72. http://dx.doi.org/10.2298/sjee1301059c.
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Solution of the formation guidance in structured static environments is presented in this paper. It is assumed that high level planner is available, which generates collision free trajectory for the leader robot. Leader robot is forced to track generated trajectory, while followers? trajectories are generated based on the trajectory realized by the real leader. Real environments contain large number of static obstacles, which can be arbitrarily positioned. Hence, formation switching becomes necessary in cases when followers can collide with obstacles. In order to ensure trajectory tracking, as well as object avoidance, control structure with several controllers of different roles (trajectory tracking, obstacle avoiding, vehicle avoiding and combined controller) has been adopted. Kinematic model of differentially driven two-wheeled mobile robot is assumed. Simulation results show the efficiency of the proposed approach.
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Tuna, Gurkan, Ayse Tuna, Emine Ahmetoglu, and Hilmi Kuscu. "A survey on the use of humanoid robots in primary education: Prospects, research challenges and future research directions." Cypriot Journal of Educational Sciences 14, no. 3 (September 30, 2019): 361–73. http://dx.doi.org/10.18844/cjes.v14i3.3291.
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In parallel with the significant and exciting advancements in robot technologies, the use of humanoid robots to support teaching strategies and learning goals has become a popular topic. Different from the traditional instructional or learning tools, humanoid robots can exhibit mobile behaviours and numerous repetitions and are very helpful to the students in developing problem-solving and collaboration abilities. Presently, the roles of humanoid robots in classrooms fall into four main categories: learning materials, learning companions, teaching assistants and communication mediators to support group learning, respectively. With the humanoid appearance, anthropomorphism, interaction, flexibility, repeatability and digital data representation, humanoid robots have great potential to be useful especially in preschool and primary school education. In this paper, limitations and challenges of the use of humanoid robots as teaching assistants are presented in addition to exploring the relationship between humanoid robots and performance in learning.
Keywords: Humanoid robot, teaching, social interaction, learning tool, assisted learning.
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Choi, S. H., and W. K. Zhu. "Performance Optimisation of Mobile Robots for Search-and-Rescue." Applied Mechanics and Materials 232 (November 2012): 403–7. http://dx.doi.org/10.4028/www.scientific.net/amm.232.403.
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This paper presents a team performance optimisation system for multiple mobile robots in search-and-rescue operations, in which refugees are first discovered and subsequently robots are dispatched to transport themto shelters. Coordination of mobile robots involves two fundamental issues, namely task allocation and motion planning. While task allocation assigns jobs to robots, motion planning generates routes for robots to execute the assigned jobs. Task allocation and motion planning together play a pivotal role in optimisation of the robot team performance. These two issues become more challenging in dynamic search-and-rescue environments, where the refugees are unpredictably discovered at different locations and the traffic conditions of rescue zones keep changing. Weaddress these two issues by proposing an auction-based closed-loop module for task allocation and a bio-inspired intelligent module for motion planning. The task allocation module is characterised with a closed-loop bid adjustment mechanism to improve the bid accuracy even in light of stochastic rescue requests. The motion planning module is bio-inspired intelligent in that it features detection of imminent neighbours and responsiveness of virtual force navigation in dynamic traffic conditions. Simulations show that the proposed system is a practical tool to optimise the dynamic operations of search-and-rescue by a team of mobilerobots.
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Jawhar, Imad, Nader Mohamed, Jie Wu, and Jameela Al-Jaroodi. "Networking of Multi-Robot Systems: Architectures and Requirements." Journal of Sensor and Actuator Networks 7, no. 4 (November 30, 2018): 52. http://dx.doi.org/10.3390/jsan7040052.
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A large number of advancements have taken place in microprocessor-based systems leading to significantly more processing, memory, storage, sensing, actuating, recognition, controlling and communication capabilities. Robotics is one of the areas that have benefited a lot from these advancements. Many important and useful applications for single-robot and multi-robot systems (MRS) have emerged. Such applications include search and rescue, detection of forest fires, mining, construction, disaster management, and many more. MRS systems greatly enhance the capabilities and effectiveness of today’s robots. They extend the robotic system capabilities by increasing the ability to perform more complex tasks and allow performance of inherently distributed ones. In addition, they increase parallelism, enhance robustness, and improve system reliability. However, to perform their tasks in an effective manner, communication between the individual robots becomes an essential component. In this paper, we discuss the various types and architectures of MRS systems and focus on the networking issues, and services that are required to enable MRS systems to be more efficient in performing their roles in their respective applications. We also identify the similarities and differences between mobile ad hoc networks (MANETs) and MRS systems, analyze robot-to-robot (R2R) and robot-to-infrastructure (R2I) communication links, and identify the protocols that can be used at the various levels in the MRS hierarchy.
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Sato, Yuta, Yuichi Kobayashi, and Manabu Gouko. "Division of Iterative-Transportation Based on State Estimation Using Local Observation." Advanced Materials Research 433-440 (January 2012): 5004–11. http://dx.doi.org/10.4028/www.scientific.net/amr.433-440.5004.
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This paper deals with a framework of decentralized approach to division of labor by multiple mobile robots. An iterative-transportation task by multiple robots with multiple sets of starts (pick-up place of the object) and goals (put down place) is considered as the task. On each route between a start and a goal, the efficiency of transportation improves when the number of robots increases. Due to jams, however, excessive number of robots on the same route causes inefficiency. We propose a control law of each robot to choose an appropriate route so as to optimize the total efficiency of the transportation, where each robot utilizes information which can be obtained only by local observation (without any explicit communication among robots). The proposed control is based on the estimation of the number of robots on the routes in the future by using EXPAR model. In simulation, it was verified that the proposed control law realized the similar level of the efficiency by appropriately choosing the route, compared with the case where global information can be utilized.
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Chung, Jiyoon, Byeong-Soon Ryu, and Hyun S. Yang. "Integrated control architecture based on behavior and plan for mobile robot navigation." Robotica 16, no. 4 (July 1998): 387–99. http://dx.doi.org/10.1017/s0263574798000046.
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One of the most difficult challenges in mobile robotics is real-world navigation. A real world can change suddenly and this change makes the robot relinquish planning actions in advance. In order to overcome such a change, behavior-based navigation was introduced. However, it had a difficulty in planning deliberate actions and in communicating with humans.We propose a new control strategy combining both the merits of behavior-based and planner-based approaches. The architecture consists of three major parts: Behaviors, Planner, and Coordinator. The Planner plays two important roles: 1) as a flexible human interface and 2) as the planner itself. The Coordinator serves as an interface between Behaviors and Planner and guides Behaviors to accomplish meaningful tasks according to the guidelines from the Planner and the Position estimator.We also provide a brief description of the intelligent mobile robot CAIR-2 and for '95 IJCAI/AAAI Robot Competition and Exhibition when the robot was placed first in the Office Delivery event.
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Plaku, Evis, Erion Plaku, and Patricio Simari. "Clearance-driven motion planning for mobile robots with differential constraints." Robotica 36, no. 7 (February 27, 2018): 971–93. http://dx.doi.org/10.1017/s0263574718000164.
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SUMMARYThis paper presents an approach that integrates the geometric notion of clearance (distance to the closest obstacle) into sampling-based motion planning to enable a robot to safely navigate in challenging environments. To reach the goal destination, the robot must obey geometric and differential constraints that arise from the underlying motion dynamics and the characteristics of the environment. To produce safe paths, the proposed approach expands a motion tree of collision-free and dynamically feasible motions while maintaining locally maximal clearance. In distinction from related work, rather than explicitly constructing the medial axis, the proposed approach imposes a grid or a triangular tessellation over the free space and uses the clearance information to construct a weighted graph where edges that connect regions with low clearance have high cost. Minimum-cost paths over this graph produce high-clearance routes that tend to follow the medial axis without requiring its explicit construction. A key aspect of the proposed approach is a route-following component which efficiently expands the motion tree to closely follow such high-clearance routes. When expansion along the current route becomes difficult, edges in the tessellation are penalized in order to promote motion-tree expansions along alternative high-clearance routes to the goal. Experiments using vehicle models with second-order dynamics demonstrate that the robot is able to successfully navigate in complex environments. Comparisons to the state-of-the-art show computational speedups of one or more orders of magnitude.
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Guzmán Ortiz, Eduardo, Beatriz Andres, Francisco Fraile, Raul Poler, and Ángel Ortiz Bas. "Fleet management system for mobile robots in healthcare environments." Journal of Industrial Engineering and Management 14, no. 1 (January 28, 2021): 55. http://dx.doi.org/10.3926/jiem.3284.
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Purpose: The purpose of this paper is to describe the implementation of a Fleet Management System (FMS) that plans and controls the execution of logistics tasks by a set of mobile robots in a real-world hospital environment. The FMS is developed upon an architecture that hosts a routing engine, a task scheduler, an Endorse Broker, a controller and a backend Application Programming Interface (API). The routing engine handles the geo-referenced data and the calculation of routes; the task scheduler implements algorithms to solve the task allocation problem and the trolley loading problem using Integer Linear Programming (ILP) model and a Genetic Algorithm (GA) depending on the problem size. The Endorse Broker provides a messaging system to exchange information with the robotic fleet, while the controller implements the control rules to ensure the execution of the work plan. Finally, the Backend API exposes some FMS to external systems.Design/methodology/approach: The first part of the paper, focuses on the dynamic path planning problem of a set of mobile robots in indoor spaces such as hospitals, laboratories and shopping centres. A review of algorithms developed in the literature, to address dynamic path planning, is carried out; and an analysis of the applications of such algorithms in mobile robots that operate in real in-door spaces is performed. The second part of the paper focuses on the description of the FMS, which consists of five integrated tools to support the multi-robot dynamic path planning and the fleet management.Findings: The literature review, carried out in the context of path planning problem of multiple mobile robots in in-door spaces, has posed great challenges due to the environment characteristics in which robots move. The developed FMS for mobile robots in healthcare environments has resulted on a tool that enables to: (i) interpret of geo-referenced data; (ii) calculate and recalculate dynamic path plans and task execution plans, through the implementation of advanced algorithms that take into account dynamic events; (iii) track the tasks execution; (iv) fleet traffic control; and (v) to communicate with one another external systems.Practical implications: The proposed FMS has been developed under the scope of ENDORSE project that seeks to develop safe, efficient, and integrated indoor robotic fleets for logistic applications in healthcare and commercial spaces. Moreover, a computational analysis is performed using a virtual hospital floor-plant.Originality/value: This work proposes a novel FMS, which consists of integrated tools to support the mobile multi-robot dynamic path planning in a real-world hospital environment. These tools include: a routing engine that handles the geo-referenced data and the calculation of routes. A task scheduler that includes a mathematical model to solve the path planning problem, when a low number of robots is considered. In order to solve large size problems, a genetic algorithm is also implemented to compute the dynamic path planning with less computational effort. An Endorse broker to exchanges information between the robotic fleet and the FMS in a secure way. A backend API that provides interface to manage the master data of the FMS, to calculate an optimal assignment of a set of tasks to a group of robots to be executed on a specific date and time, and to add a new task to be executed in the current shift. Finally, a controller to ensures that the robots execute the tasks that have been assigned by the task scheduler.
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Darintsev, O. V., and A. B. Migranov. "Two-level artificial intelligent system of mobile robot motion planning." Proceedings of the Mavlyutov Institute of Mechanics 10 (2014): 50–54. http://dx.doi.org/10.21662/uim2014.1.009.
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We consider a two-level intelligent system for planning the movements of mobile robots, in which the search for the trajectory is carried out on two levels — a rough and precise planning subsystems. Insufficient resolution of vision systems at the upper level is compensated by sensor systems placed on board robots. The proposed approach reduces the resources required on-board control systems (are based on computer or controller) and optimization of traffic routes of all members of the group to achieve group goals.
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Rawlinson, David, and Ray Jarvis. "Topologically-directed navigation." Robotica 26, no. 2 (March 2008): 189–203. http://dx.doi.org/10.1017/s026357470700375x.
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SUMMARYRecent advances in simultaneous localization and mapping permit robots to autonomously explore enclosed environments and, subsequently, navigate to selected positions within them. But, for many tasks, it is more useful to immediately navigate to goals in unexplored environments, without a map. This is possible if a human director can describe the ideal route to the robot using grounded symbols that both parties can perceive directly.In this paper, a mobile robot is autonomously navigated to many locations in a cluttered laboratory environment by a variety of routes. A series of topological navigation instructions are provided in advance by the director, in a form that can be expressed verbally and translates easily to software representation. The instructions are based on the perception of spatial affordances available to the robot, namely nearby junctions and edges in a pruned Generalized Voronoi Diagram. The operator can generate the instructions by viewing or imagining the environment without any measurements. Only three to five instructions are needed to navigate anywhere in our laboratory. The instructions contain only topology. No spatial measurements or environmental data such as landmarks are provided to the robot.
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Mauledoux, Mauricio, Juan C. M. Hernández, Oscar F. S. Avilés, and Hoffman F. Ramirez G. "Autonomous Car for Mining 1° ProtoType “ACM1PT”." Applied Mechanics and Materials 713-715 (January 2015): 901–4. http://dx.doi.org/10.4028/www.scientific.net/amm.713-715.901.
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The project aims to design and build a robotic platform, capable of uploading tools for drilling exploration processes in unstructured environments. With the characteristic of being maneuvered remotely through a wireless communication protocol and a support system to allow new routes autonomously, without human intervention. During the last 4 years the research group DAVINCI has acquired knowledge in the search for information and has developed three mobile remotely controlled for a specific purpose, to neutralize the explosives and manipulate objects platforms. The information held for the development of mobile robots can be extrapolated to other functions, can be applied to other work tasks can be mining, agriculture and exploration. For the particular case the project to develop a robot that I carried out in mining support tasks remotely by tele-operation and support of autonomous system is presented.
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Yao Ting, Ying, Huan Sheng Wang, and Kuo Lan Su. "Path Planning of the Fire Escaping System Using Active Detection Module." IAES International Journal of Robotics and Automation (IJRA) 6, no. 1 (March 1, 2017): 21. http://dx.doi.org/10.11591/ijra.v6i1.pp21-30.
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<span>This article proposes a security system which detects the fire events and plans the moving route. Each robot with several modules owns the shape of cylinder and height, weight and diameter is 18</span><span>cm, 1.5</span><span>kg and 8</span><span>cm. A main controller (STC12C5A60S2) equips robots as a microprocessor. Each robot has the capability to escape from the fire scene. Whenever detecting fires and obstacles using image sensor and reflective IR sensors, robots send the ID code, orientation, and position to the centralized computer and other robots. After other robots have confirmed the fire events, the centralized computer uses the Gaussian probability function to calculate the danger values of the surrounding points near the fire source. And Bayesian estimation method is applied to compute the total estimated value of each point in platform. Furthermore, the total weighted values of all points are shown in a platform and its aim is to enlarge the difference between danger and safety without ambiguity. A* algorithm is used in the escaping routes are planned by a centralized computer. The mobile robot follows the leading of the supervised computer autonomously to escape from dangerous areas. The air-fuel ratio and the rate of increasing in temperature with distance are directly proportional to the danger value. Associating the increasing temperature rate with three-fire sources, it is verified to be an efficient system.</span>
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Kozjek, Dominik, Andreja Malus, and Rok Vrabič. "Reinforcement-Learning-Based Route Generation for Heavy-Traffic Autonomous Mobile Robot Systems." Sensors 21, no. 14 (July 14, 2021): 4809. http://dx.doi.org/10.3390/s21144809.
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Autonomous mobile robots (AMRs) are increasingly used in modern intralogistics systems as complexity and performance requirements become more stringent. One way to increase performance is to improve the operation and cooperation of multiple robots in their shared environment. The paper addresses these problems with a method for off-line route planning and on-line route execution. In the proposed approach, pre-computation of routes for frequent pick-up and drop-off locations limits the movements of AMRs to avoid conflict situations between them. The paper proposes a reinforcement learning approach where an agent builds the routes on a given layout while being rewarded according to different criteria based on the desired characteristics of the system. The results show that the proposed approach performs better in terms of throughput and reliability than the commonly used shortest-path-based approach for a large number of AMRs operating in the system. The use of the proposed approach is recommended when the need for high throughput requires the operation of a relatively large number of AMRs in relation to the size of the space in which the robots operate.
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Azpúrua, Héctor, Gustavo M. Freitas, Douglas G. Macharet, and Mario F. M. Campos. "Multi-robot coverage path planning using hexagonal segmentation for geophysical surveys." Robotica 36, no. 8 (April 15, 2018): 1144–66. http://dx.doi.org/10.1017/s0263574718000292.
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SUMMARYThe field of robotics has received significant attention in our society due to the extensive use of robotic manipulators; however, recent advances in the research on autonomous vehicles have demonstrated a broader range of applications, such as exploration, surveillance, and environmental monitoring. In this sense, the problem of efficiently building a model of the environment using cooperative mobile robots is critical. Finding routes that are either length or time-optimized is essential for real-world applications of small autonomous robots. This paper addresses the problem of multi-robot area coverage path planning for geophysical surveys. Such surveys have many applications in mineral exploration, geology, archeology, and oceanography, among other fields. We propose a methodology that segments the environment into hexagonal cells and allocates groups of robots to different clusters of non-obstructed cells to acquire data. Cells can be covered by lawnmower, square or centroid patterns with specific configurations to address the constraints of magneto-metric surveys. Several trials were executed in a simulated environment, and a statistical investigation of the results is provided. We also report the results of experiments that were performed with real Unmanned Aerial Vehicles in an outdoor setting.
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Yokozuka, Masashi, and Osamu Matsumoto. "Accurate Localization for Making Maps to Mobile Robots Using Odometry and GPS Without Scan-Matching." Journal of Robotics and Mechatronics 27, no. 4 (August 20, 2015): 410–18. http://dx.doi.org/10.20965/jrm.2015.p0410.
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<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270004/11.jpg"" width=""300"" /> Comparison of mapping results</div> This paper studies an accurate localization method to make maps for mobile robots using odometry and a global positioning system (GPS) without scan matching. We investigate requirements for GPS accuracy in map-making. To generate accurate maps, SLAM techniques such as scan matching are used to obtain accurate positions. Scan matching is unstable, however, in complex environments and has a high computation cost. To avoid these problems, we studied accurate localization without scan matching. Loop closing is an important property in generating consistent maps. Inconsistencies in maps prevent correct routes to destinations from being generated. Basically, our method adds scan data to a map along a trajectory given by odometry. Odometry accumulates errors due, e.g., to wheel slippage or wheel diameter variations. To remove this accumulated error, we used bundle adjustment, introducing two types of processing. The first is a simple manual input moving a robot to a same position at start and end. This is equal that a robot returns to a start position at end. The second process uses a GPS device to improve map accuracy. Results of experiments showed that an accurate map is generated by using wheel-encoder odometry and a low-cost GPS device. Results were evaluated using a real-time kinematic (RTK) GPS device whose accuracy is within a few centimeters. </span>
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Sarieva, Makpal, Lei Yao, Kei Sugawara, and Tadashi Egami. "Synchronous Position Control of Robotics System for Infrastructure Inspection Moving on Rope Tether." Journal of Robotics and Mechatronics 31, no. 2 (April 20, 2019): 317–28. http://dx.doi.org/10.20965/jrm.2019.p0317.
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Most bridges, tunnels, dams, and other infrastructure facilities were constructed in the 1950s to 1960s. At present, aging in these facilities is a social problem. Most of the maintenance check-ups of these infrastructure facilities are manually conducted by close visual inspection, which has limitations. As a result, there have been many proposals on inspection systems for unmanned infrastructure facilities, such as drones and cable robots. However, there are also problems with the use of cable robots and drones, such as restrictions in places that they can be used and effects from the environment. Thus, this study proposes a robotics system for infrastructure inspection that solves such problems. Two robots move on parallel ropes stretching in an H shape, and one robot with a three-dimensional gimbal and camera moves on a rope stretching between those robots. At this time, the three robots are capable of efficient, highly accurate wide-ranging observation by carrying out synchronous position control using wireless communication. The control system has optimum synchronous position capabilities and uses a disturbance observer. Regarding this infrastructure inspection robotics system, this study discusses the development of three mobile robotics systems and the synchronous position control of two robots.
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Hiroi, Yutaka, and Akinori Ito. "A Pedestrian Avoidance Method Considering Personal Space for a Guide Robot." Robotics 8, no. 4 (November 18, 2019): 97. http://dx.doi.org/10.3390/robotics8040097.
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Many methods have been proposed for avoiding obstacles in robotic systems. However, a robotic system that moves without colliding with obstacles and people, while still being mentally safe to the persons nearby, has not yet been realized. In this paper, we describe the development of a method for a mobile robot to avoid a pedestrian approaching from the front and to pass him/her by while preserving the “public distance” of personal space. We assume a robot that moves along a prerecorded path. When the robot detects a pedestrian using a laser range finder (LRF), it calculates the trajectory to avoid the pedestrian considering their personal space, passes by the pedestrian, and returns to the original trajectory. We introduce a virtual target to control the robot moving along the path, such that it can use the same control strategy as for human-following behavior. We carry out experiments to evaluate the method along three routes, in which the robot functioned without problems. The distance between the robot and the pedestrian was 9.3 m, on average, when the robot started to use avoiding behavior, which is large enough to keep a public distance from a pedestrian. When the robot passed by the pedestrian, the minimum distance between them was 1.19 m, which was large enough for passing safely.
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Ushakov, I. B., A. V. Polyakov, V. M. Usov, M. M. Knyazkov, and A. I. Motienko. "Using service robots to counter the SARS-CoV-2 virus spread in enclosed medical premises." Medicо-Biological and Socio-Psychological Problems of Safety in Emergency Situations, no. 2 (June 2, 2021): 104–14. http://dx.doi.org/10.25016/2541-7487-2021-0-2-104-114.
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Relevance. Spreading of the COVID-19 epidemic highlighted a number of new challenges related to protecting the health of first-line emergency and specialized medical personnel, as the high incidence of COVID-19 among healthcare workers can lead to risks of health system collapse. At the same time, in the interests of personnel safety, robotic technologies can be applied for heavy and dangerous works of air disinfection in enclosed medical environments.Intention: To present current views on robotic air disinfection of enclosed medical environments based on the analysis of robot prototypes developed to counteract the spread of the SARS-CoV-2 virus.Methodology. Analysis of tasks related to maintaining a safe working environment for healthcare professionals was based on the description of the functionality and specifications of robots designed to decontaminate the working environment of medical personnel deployment. When systematizing solutions for robot design, the main criteria used were the selection of control modes (Automatic, Supervisory, Manual and their combinations), hardware for disinfection in the external environment and in premises, and features of Human-Machine interaction for the safety of robotic support in enclosed medical premises.Results and Discussion. The features of using service (disinfection) robots are formulated based on epidemiological knowledge of the primary transmission routes and methods of disinfection of premises. It is shown that the tactical and technical characteristics of existing models of Autonomous mobile robots are mainly aimed at implementing unmanned technologies. Solving problems of massive processing of objects of the external environment, as well as vast areas of airports, stadiums, hypermarkets, warehouses, vehicles in a reasonable time involves automatic modes and/or Supervisory control of such robots by the operator in remote mode. The use of disinfection robots in enclosed medical premises requires additional consideration of the factor of introducing robots into the social environment. From these positions and on the basis of the selected prototypes, the prospects are considered for using a group of small mobile robots equipped with systems that enhance sensory and communication capabilities in the work environment.Conclusion. Using robots to reduce risks of the SARS-CoV-2 contamination opens the way to improving the working conditions of healthcare professionals who are at risk of COVID-19. The proposed methods of robotic disinfection of medical premises also help reduce the mental strain of being in a dangerous environment by expanding robotic support for decontamination of premises and flexible response to changes in the environment
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Long, Lindsay O. "Visual Spatial Abilities in Uninhabited Ground Vehicle Task Performance During Teleoperation and Direct Line of Sight." Presence: Teleoperators and Virtual Environments 20, no. 5 (October 1, 2011): 466–79. http://dx.doi.org/10.1162/pres_a_00066.
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Two experiments investigated the role of spatial abilities on uninhabited ground vehicle (UGV) performance under two different viewing conditions: direct line of sight and teleoperation. The ability to operate a mobile robot was indexed by task completion time and total number of course collisions. Results showed that participants with higher spatial abilities exhibited superior performance in both direct line of sight and teleoperation. Performance under direct line of sight was correlated with both spatial relations and spatial visualization, whereas performance during teleoperation was only correlated with spatial relations ability. Understanding the roles of spatial abilities under different viewing conditions will aid in the advancement of selection criteria and training paradigms for robot operators.
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Ampatzis, Christos, Elio Tuci, Vito Trianni, Anders Lyhne Christensen, and Marco Dorigo. "Evolving Self-Assembly in Autonomous Homogeneous Robots: Experiments with Two Physical Robots." Artificial Life 15, no. 4 (October 2009): 465–84. http://dx.doi.org/10.1162/artl.2009.ampatzis.013.
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This research work illustrates an approach to the design of controllers for self-assembling robots in which the self-assembly is initiated and regulated by perceptual cues that are brought forth by the physical robots through their dynamical interactions. More specifically, we present a homogeneous control system that can achieve assembly between two modules (two fully autonomous robots) of a mobile self-reconfigurable system without a priori introduced behavioral or morphological heterogeneities. The controllers are dynamic neural networks evolved in simulation that directly control all the actuators of the two robots. The neurocontrollers cause the dynamic specialization of the robots by allocating roles between them based solely on their interaction. We show that the best evolved controller proves to be successful when tested on a real hardware platform, the swarm-bot. The performance achieved is similar to the one achieved by existing modular or behavior-based approaches, also due to the effect of an emergent recovery mechanism that was neither explicitly rewarded by the fitness function, nor observed during the evolutionary simulation. Our results suggest that direct access to the orientations or intentions of the other agents is not a necessary condition for robot coordination: Our robots coordinate without direct or explicit communication, contrary to what is assumed by most research works in collective robotics. This work also contributes to strengthening the evidence that evolutionary robotics is a design methodology that can tackle real-world tasks demanding fine sensory-motor coordination.
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Thomason, Jesse, Aishwarya Padmakumar, Jivko Sinapov, Nick Walker, Yuqian Jiang, Harel Yedidsion, Justin Hart, Peter Stone, and Raymond Mooney. "Jointly Improving Parsing and Perception for Natural Language Commands through Human-Robot Dialog." Journal of Artificial Intelligence Research 67 (February 26, 2020): 327–74. http://dx.doi.org/10.1613/jair.1.11485.
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In this work, we present methods for using human-robot dialog to improve language understanding for a mobile robot agent. The agent parses natural language to underlying semantic meanings and uses robotic sensors to create multi-modal models of perceptual concepts like red and heavy. The agent can be used for showing navigation routes, delivering objects to people, and relocating objects from one location to another. We use dialog clari_cation questions both to understand commands and to generate additional parsing training data. The agent employs opportunistic active learning to select questions about how words relate to objects, improving its understanding of perceptual concepts. We evaluated this agent on Amazon Mechanical Turk. After training on data induced from conversations, the agent reduced the number of dialog questions it asked while receiving higher usability ratings. Additionally, we demonstrated the agent on a robotic platform, where it learned new perceptual concepts on the y while completing a real-world task.
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Lee, Hou-Tsan, Wei-Chuan Lin, and Ching-Hsiang Huang. "Indoor Surveillance Security Robot with a Self-Propelled Patrolling Vehicle." Journal of Robotics 2011 (2011): 1–9. http://dx.doi.org/10.1155/2011/197105.
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Self-propelled patrolling vehicles can patrol periodically in the designed area to ensure the safety like men do. The proposed vehicle cannot only save manpower, but also ensure the performance without mistakes caused by man. It is different from the traditional patrolling system which is limited by the manpower and the fixed camera positions. To improve such situation, this paper proposes a self-propelled patrolling vehicle which can move automatically to a wider range and record the monitored image by IPCAM within a predefined patrolling route. Besides, the user can use the mobile device or website to connect to the vehicle at anytime and anywhere and control it to move to the position to get the indoor image user wants. The position of self-propelled vehicles can be detected by the RFID reader as a feedback and be shown on the PC screen and smart phone. The recorded images can be also transmitted back to the server via WiFi system for face tracking and discriminating analysis. On the other hand, the self-propelled vehicle patrolling routes can be modified by the Android smart-phone remote-control module. When some defined events occur, the build-in MSN module will notice users by sending messages to PC and smart phone. Experimental results are given in the paper to validate its performance.
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Solichudin, Solichudin, Aris Triwiyatno, and Munawar A. Riyadi. "Conflict-free dynamic route multi-AGV using dijkstra floyd-warshall hybrid algorithm with time windows." International Journal of Electrical and Computer Engineering (IJECE) 10, no. 4 (August 1, 2020): 3596. http://dx.doi.org/10.11591/ijece.v10i4.pp3596-3604.
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Autonomous Guided Vehicle is a mobile robot that can move autonomously on a route or lane in an indoor or outdoor environment while performing a series of tasks. Determination of the shortest route on an autonomous guided vehicle is one of the optimization problems in handling conflict-free routes that have an influence on the distribution of goods in the manufacturing industry's warehouse. Pickup and delivery processes in the distribution on AGV goods such as scheduling, shipping, and determining the route of vehicle with short mileage characteristics, is very possible to do simulations with three AGV units. There is a windows time limit on workstations that limits shipping. The problem of determining the route in this study is considered necessary as a multi-vehicle route problem with a time window. This study aims to describe the combination of algorithms written based on dynamic programming to overcome the problem of conflict-free AGV routes using time windows. The combined approach of the Dijkstra and Floyd-Warshall algorithm results in the optimization of the closest distance in overcoming conflict-free routes.
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Jayaweera, Herath M. P. C., and Samer Hanoun. "UAV Path Planning for Reconnaissance and Look-Ahead Coverage Support for Mobile Ground Vehicles." Sensors 21, no. 13 (July 5, 2021): 4595. http://dx.doi.org/10.3390/s21134595.
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Path planning of unmanned aerial vehicles (UAVs) for reconnaissance and look-ahead coverage support for mobile ground vehicles (MGVs) is a challenging task due to many unknowns being imposed by the MGVs’ variable velocity profiles, change in heading, and structural differences between the ground and air environments. Few path planning techniques have been reported in the literature for multirotor UAVs that autonomously follow and support MGVs in reconnaissance missions. These techniques formulate the path planning problem as a tracking problem utilizing gimbal sensors to overcome the coverage and reconnaissance complexities. Despite their lack of considering additional objectives such as reconnaissance coverage and dynamic environments, they retain several drawbacks, including high computational requirements, hardware dependency, and low performance when the MGV has varying velocities. In this study, a novel 3D path planning technique for multirotor UAVs is presented, the enhanced dynamic artificial potential field (ED-APF), where path planning is formulated as both a follow and cover problem with nongimbal sensors. The proposed technique adopts a vertical sinusoidal path for the UAV that adapts relative to the MGV’s position and velocity, guided by the MGV’s heading for reconnaissance and exploration of areas and routes ahead beyond the MGV sensors’ range, thus extending the MGV’s reconnaissance capabilities. The amplitude and frequency of the sinusoidal path are determined to maximize the required look-ahead visual coverage quality in terms of pixel density and quantity pertaining to the area covered. The ED-APF was tested and validated against the general artificial potential field techniques for various simulation scenarios using Robot Operating System (ROS) and Gazebo-supported PX4-SITL. It demonstrated superior performance and showed its suitability for reconnaissance and look-ahead support to MGVs in dynamic and obstacle-populated environments.
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Ferreira, Fernanda Márcia Rodrigues Martins, Guilherme de Paula Rúbio, Fabrício Henrique de Lisboa Brandão, Arthur Mazzini da Mata, Natália Batista Castilho de Avellar, João Paulo Fernandes Bonfim, Leandro Gonzaga Tonelli, et al. "Robotic Orthosis for Upper Limb Rehabilitation." Proceedings 64, no. 1 (November 21, 2020): 10. http://dx.doi.org/10.3390/iecat2020-08519.
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Individuals with impaired upper limbs have motor limitations that interfere with functionality. An alternative to rehabilitation is robot-assisted therapy, a method that increases the effectiveness of treatment. New robotic actuators have been developed to assist in the rehabilitation of the upper limb. One of them aims to actively perform finger extension and flexion passively, using a servo motor coupled to a rope system. At the elbow, a direct current (DC) motor combined with a gearbox was coupled to a system of pulleys and ropes designed to actively perform flexion and extension movements. To activate the system, an Arduino-NANO® and a mobile application for Android were used. The performance of the prototype was evaluated in four post-stroke volunteers. The ability to perform the proposed movements with the device was observed. Structural reinforcement was necessary, after twisting the elbow support structure, with pronation of the forearm, resulting in increased component weight. This work presented new robotic devices that can assist in the rehabilitation of post-stroke individuals.
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Takeno, Jun’ichi, Kiichirou lijima, Kozo Kato, and Sakae Nishiyama. "Harmonious Control System for Multiple Mobile Investigation Robots." Journal of Robotics and Mechatronics 5, no. 2 (April 20, 1993): 172–77. http://dx.doi.org/10.20965/jrm.1993.p0172.
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To ensure safe and efficient operation of mobile robots in a work space, it is essential that the robots maintain global maps reliable in a given environment. The system proposed in this paper is for the study of global maps using mobile robots in order to maintain the global map information as reliable as possible. The system is a coordinate control method designed to dynamically detect specific information in global maps using robots. The basic principle of this method is the study of the information about environments using mobile robots that move along Chinese postman routes in an environment. Mobile robots are controlled to detect environmental variations represented by the discovery of impassable points, and to equalize the reliability of global maps as far as possible through their activities coordinated with other robots. This paper evaluates the harmonization of such a global map control system using mobile robots, ie. the reliability of information described in global harmonized work to equalize the reliability of global maps.
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Wen, Jianjun, and Waltenegus Dargie. "Characterization of Link Quality Fluctuation in Mobile Wireless Sensor Networks." ACM Transactions on Cyber-Physical Systems 5, no. 3 (July 2021): 1–24. http://dx.doi.org/10.1145/3448737.
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Wireless sensor networks accommodating the mobility of nodes will play important roles in the future. In residential, rehabilitation, and clinical settings, sensor nodes can be attached to the body of a patient for long-term and uninterrupted monitoring of vital biomedical signals. Likewise, in industrial settings, workers as well as mobile robots can carry sensor nodes to augment their perception and to seamlessly interact with their environments. Nevertheless, such applications require reliable communications as well as high throughput. Considering the primary design goals of the sensing platforms (low-power, affordable cost, large-scale deployment, longevity, operating in the ISM band), maintaining reliable links is a formidable challenge. This challenge can partially be alleviated if the nature of link quality fluctuation can be known or estimated on time. Indeed, higher-level protocols such as handover and routing protocols rely on knowledge of link quality fluctuation to seamlessly transfer communication to alternative routes when the quality of existing routes deteriorates. In this article, we present the result of extensive experimental study to characterise link quality fluctuation in mobile environments. The study focuses on slow movements (<5 km h -1 ) signifying the movement of people and robots and transceivers complying to the IEEE 802.15.4 specification. Hence, we deployed mobile robots that interact with strategically placed stationary relay nodes. Our study considered different types of link quality characterisation metrics that provide complementary and useful insights. To demonstrate the usefulness of our experiments and observations, we implemented a link quality estimation technique using a Kalman Filter. To set up the model, we employed two link quality metrics along with the statistics we established during our experiments. The article will compare the performance of four proposed approaches with ours.
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Ciszewski, Michał, Tomasz Buratowski, Mariusz Giergiel, Krzysztof Kurc, and Piotr Małka. "Mobile Inspection Robot." Applied Mechanics and Materials 319 (May 2013): 385–92. http://dx.doi.org/10.4028/www.scientific.net/amm.319.385.
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In this paper, the design of a tracked in-pipe inspection mobile robot with a flexible drive positioning system is presented. The robot would be able to operate in circular and rectangular pipes and ducts, oriented horizontally and vertically with cross section greater than 200 mm. The paper presents a complete design process of a virtual prototype, with usage of CAD/CAE software. Mathematical descriptions of the robot kinematics and dynamics that aim on development of a control system are presented. Laboratory tests of the utilized tracks are included. Performed tests proved conformity of the design with stated requirements, therefore a prototype will be manufactured basing on the project.
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KOYACHI, NORIHO. "Mobile work robot." Journal of the Robotics Society of Japan 13, no. 7 (1995): 939–44. http://dx.doi.org/10.7210/jrsj.13.939.
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Greenwald, L., and J. Kopena. "Mobile robot labs." IEEE Robotics & Automation Magazine 10, no. 2 (June 2003): 25–32. http://dx.doi.org/10.1109/mra.2003.1213613.
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Graf, B., M. Hans, and R. D. Schraft. "Mobile robot assistants." IEEE Robotics & Automation Magazine 11, no. 2 (June 2004): 67–77. http://dx.doi.org/10.1109/mra.2004.1310943.
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Marques, Lino, and Aníbal de Almeida. "Mobile robot olfaction." Autonomous Robots 20, no. 3 (April 22, 2006): 183–84. http://dx.doi.org/10.1007/s10514-006-7536-7.
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Mikolajczyk, Tadeusz, Janusz Musial, Łukasz Romanowski, Adam Domagalski, Lukasz Kamieniecki, and Michał Murawski. "Multipurpose Mobile Robot." Applied Mechanics and Materials 282 (January 2013): 152–57. http://dx.doi.org/10.4028/www.scientific.net/amm.282.152.
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The paper presents the construction of a multi-purpose mobile robot. The main assumption was to create a robot which would be able to move in all directions, grab items and communicate with the environment. This developed robot controls the system based on Think-pad X41 tablet with a special interface and its own software.
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Abdalla, Amin Mohammed, Niranjan Debnath, M. K. A. Ahamed Khan, and Hasimah Ismail. "Mobile Robot Controlled through Mobile Communication." Procedia Computer Science 76 (2015): 283–89. http://dx.doi.org/10.1016/j.procs.2015.12.292.
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