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Статті в журналах з теми "Commande multi-robots":
Dean, Emmanuel, Karinne Ramirez-Amaro, Florian Bergner, and Gordon Cheng. "Robot Skin: Fully-Compliant Control Framework Using Multi-modal Tactile Events." Pädi Boletín Científico de Ciencias Básicas e Ingenierías del ICBI 7, Especial (September 4, 2019): 4–13. http://dx.doi.org/10.29057/icbi.v7iespecial.4614.
AFAGHANI, Ahmad Yasser, and Yasumichi AIYAMA. "2A1-W03 On-line Collision-Free Motion of Two Command-Based Industrial Manipulators(Cooperation Control of Multi Robots)." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2014 (2014): _2A1—W03_1—_2A1—W03_4. http://dx.doi.org/10.1299/jsmermd.2014._2a1-w03_1.
Kim, Yoon Hyuk. "Interaction between Finger Force and Neural Command in Multi-Finger Force Production." Key Engineering Materials 326-328 (December 2006): 751–54. http://dx.doi.org/10.4028/www.scientific.net/kem.326-328.751.
Lin, Y. C., C. H. Chen, K. L. Su, and J. H. Guo. "Image Recognition Method Applying in Formation Control of Mobile Robots." Applied Mechanics and Materials 190-191 (July 2012): 693–98. http://dx.doi.org/10.4028/www.scientific.net/amm.190-191.693.
Chen, Guangda, Shunyi Yao, Jun Ma, Lifan Pan, Yu’an Chen, Pei Xu, Jianmin Ji, and Xiaoping Chen. "Distributed Non-Communicating Multi-Robot Collision Avoidance via Map-Based Deep Reinforcement Learning." Sensors 20, no. 17 (August 27, 2020): 4836. http://dx.doi.org/10.3390/s20174836.
Al-Shuka, Hayder F. N., B. Corves, Wen-Hong Zhu, and B. Vanderborght. "Multi-level control of zero-moment point-based humanoid biped robots: a review." Robotica 34, no. 11 (February 24, 2015): 2440–66. http://dx.doi.org/10.1017/s0263574715000107.
Guo, J. Hung, Yung Chin Lin, Kuo Lan Su, and Bo Yi Li. "Motion Planning of Multiple Pattern Formation for Mobile Robots." Applied Mechanics and Materials 284-287 (January 2013): 1877–82. http://dx.doi.org/10.4028/www.scientific.net/amm.284-287.1877.
Fan, Tingxiang, Pinxin Long, Wenxi Liu, and Jia Pan. "Distributed multi-robot collision avoidance via deep reinforcement learning for navigation in complex scenarios." International Journal of Robotics Research 39, no. 7 (May 31, 2020): 856–92. http://dx.doi.org/10.1177/0278364920916531.
Jati, Agung Nugroho, Randy Erfa Saputra, M. Ghozy Nurcahyadi, and Nasy'an Taufiq Al Ghifary. "A Multi-robot System Coordination Design and Analysis on Wall Follower Robot Group." International Journal of Electrical and Computer Engineering (IJECE) 8, no. 6 (December 1, 2018): 5098. http://dx.doi.org/10.11591/ijece.v8i6.pp5098-5106.
Schwienbacher, Christoph, Finn Meiners, Tobias Kötter, and Thorsten Schüppstuhl. "Improvement of Multi-Directional Positioning Path Accuracy of Industrial Robots with Rotary Tables." Applied Mechanics and Materials 826 (February 2016): 134–39. http://dx.doi.org/10.4028/www.scientific.net/amm.826.134.
Дисертації з теми "Commande multi-robots":
Rodrigues, de Campos Gabriel. "Stratégies de commande collaborative pour des systèmes multi-robots." Phd thesis, Université de Grenoble, 2012. http://tel.archives-ouvertes.fr/tel-00981962.
Benachenhou, Mohammed-Rédha. "Electrolocation dans un contexte multi-robots : théorie et expérimentations." Ecole Centrale de Nantes, 2014. http://www.theses.fr/2014ECDN0018.
Chu, Xing. "Commande distribuée, en poursuite, d'un système multi-robots non holonomes en formation." Thesis, Ecole centrale de Lille, 2017. http://www.theses.fr/2017ECLI0035/document.
The main aim of this thesis is to study the distributed tracking control problem for the multi-robot formation systems with nonholonomic constraint, of which the control objective it to drive a team of unicycle-type mobile robots to form one desired formation configuration with its centroid moving along with another dynamic reference trajectory, which can be specified by the virtual leader or human. We consider several problems in this point, ranging from finite-time stability andfixed-time stability, event-triggered communication and control mechanism, kinematics and dynamics, continuous-time systems and hybrid systems. The tracking control problem has been solved in this thesis via developing diverse practical distributed controller with the consideration of faster convergence rate, higher control accuracy, stronger robustness, explicit and independent convergence time estimate, less communication cost and energy consumption.In the first part of the thesis, we first study the finite-time stability for the multi-robot formation systems in Chapter 2. To improve the pior results, a novel class of finite-time controller is further proposed in Chapter 3, which is also called fixed-time controller. The dynamics of nonholonomic multi-robot formation systems is considered in Chapter 4. In the second part, we first investigate the event-triggered communication and control mechanism on the nonholonomic multi-robot formation tracking systems in Chapter 5. Moreover, in order to develop a digital implement scheme, we propose another class of periodic event-triggered controller based on fixed-time observer in Chapter 6
SEGUILLON, MARIE CLAUDE. "Conception et implantation de la commande d'un robot hydraulique : integration dans un systeme multi-robots multi-capteurs." Rennes 1, 1989. http://www.theses.fr/1989REN10143.
Humbert, Gaël. "Automatisation et amélioration de performances d'application pick & place multi-robots." Thesis, Lyon, 2016. http://www.theses.fr/2016LYSEI036/document.
This work belongs to the field of packaging. To best of our knowledge, in industrial and academic context, there are no digital tools that take into account all the steps of the development cycle to assist in the sizing and in the improvement of performance of multi-robots pick & place applications. The aim of these works is the development of a methodology usable, using a single software tool, throughout the creation cycle of a pick & place application. Firstly, kinematics of different robots and their environment are addressed. Secondly, control laws for individual and collaborative work of robots are developed. Finally, the transfer of the program from simulation to experimentation is carried out. At each step, a testing phase is initiated. Behavioral tests to check the robots operation and their interaction with their environment are performed. Simulation tests of the different algorithms are carried out according different configurations of pick & place application. Finally, a comparison between the result in simulation and in experimentation shows the relevance of the proposed approach
Mouad, Mehdi. "Architecture de COntrôle/COmmande dédiée aux systèmes Distribués Autonomes (ACO²DA) : application à une plate-forme multi-véhicules." Thesis, Clermont-Ferrand 2, 2014. http://www.theses.fr/2014CLF22437/document.
The difficulty of coordinating a group of mobile robots is adressed in this thesis by investigating control architectures which aim to break task complexity. In fact, multi-robot navigation may become rapidly inextricable, specifically if it is made in hazardous and dynamical environment requiring precise and secure cooperation. The considered task is the navigation of a group of mobile robots in unknown environments in presence of (static and dynamic) obstacles. To overcome its complexity, it is proposed to divide the overall task into a set of basic behaviors/controllers (obstacle avoidance, attraction to a dynamical target, planning, etc.). Applied control is chosen among these controllers according to sensors information (camera, local sensors, etc.). The specificity of the theoretical approach is to combine the benefits of multi-controller control architectures to those of multi-agent organizational models to provide a high level of coordination between mobile agents-robots systems. The group of mobile robots is then coordinated according to different norms and specifications of the organizational model. Thus, activating a basic behavior in favor of another is done in accordance with the structural constraints of the robots in order to ensure maximum safety and precision of the coordinated movements between robots. Cooperation takes place through a supervisor agent (centralized) to reach the desired destination faster ; unexpected events are individually managed by the mobile agents/robots in a distributed way. To guarantee performance criteria of the control architecture, hybrid systems tolerating the control of continuous systems in presence of discrete events are explored. In fact, this control allows coordinating (by discrete part) the different behaviors (continuous part) of the architecture. The development of ROBOTOPIA simulator allowed us to illustrate each contribution by many results of simulations
Nguyen, Thanh Long. "Fusion d'informations multi-capteurs pour la commande du robot humanoïde NAO." Thesis, Université Grenoble Alpes (ComUE), 2017. http://www.theses.fr/2017GREAA010/document.
Being interested in the important role of robotics in human life, we do a research about the improvement in reliability of a humanoid robot NAO by using multi-sensor fusion. In this research, we propose two scenarios: the color detection and the object recognition. In these two cases, a camera of the robot is used in combination with external cameras to increase the reliability under non-ideal working conditions. For the color detection, the NAO robot is requested to find an object whose color is described in human terms such as: red, yellow, brown, etc. The main problem to be solved is how the robot recognizes the colors as well as the human perception does. To do that, we propose a Fuzzy Sugeno system to decide the color of a detected target. For simplicity, the chosen targets are colored balls, so that the Hough transformation is employed to extract the average pixel values of the detected ball, then these values are used as the inputs for the Fuzzy system. The membership functions and inference rules of the system are constructed based on perceptual evaluation of human. The output of the Fuzzy system is a numerical value indicating a color name. Additionally, a threshold value is introduced to define the zone of decision for each color. If the Fuzzy output falls into a color interval constructed by the threshold value, that color is considered to be the output of the system. This is considered to be a good solution in an ideal condition, but not in an environment with uncertainties and imprecisions such as light variation, or sensor quality, or even the similarity among colors. These factors really affect the detection of the robot. Moreover, the introduction of the threshold value also leads to a compromise between uncertainty and reliability. If this value is small, the decisions are more reliable, but the number of uncertain cases are increases, and vice versa. However, the threshold value is preferred to be small after an experimental validation, so the need for a solution of uncertainty becomes more important. To do that, we propose adding more 2D cameras into the detection system of the NAO robot. Each camera applies the same method as described above, but their decisions are fused by using the Dempster-Shafer theory in order to improve the detection rate. The threshold value is taken into account to construct mass values from the Sugeno Fuzzy output of each camera. The Dempster-Shafer's rule of combination and the maximum of pignistic probability are chosen in the method. According to our experimens, the detection rate of the fusion system is really better than the result of each individual camera. We extend this recognition process for colored object recognition. These objects are previously learned during the training phase. To challenge uncertainties and imprecisions, the chosen objects look similar in many points: geometrical form, surface, color, etc. In this scenario, the recognition system has two 2D cameras: one of NAO and one is an IP camera, then we add a 3D camera to take the advantages of depth information. For each camera, we extract feature points of the objects (SURF descriptor for 2D data, and the SHOT descriptor for 3D data). To combine the cameras in the recognition system, the Dempster-Shafer theory is again employed for the fusion. Based on the correspondence to trained models stored in the learning base, each feature point of the detected object votes for one or several classes i.e. a hypothesis in the power set. We construct a mass function after a normalization step. In this case, the Dempster-Shafer's rule of combination and the maximum of pignistic probability are employed to make the final decision. After doing three experiments, we conclude that the recognition rate of the fusion system is much better than the rate of each individual camera, from that we confirm the benefits of multi-sensor fusion for the robot's reliability
Bouteraa, Yassine. "Commande distribuée et synchronisation de robots industriels coopératifs." Thesis, Orléans, 2012. http://www.theses.fr/2012ORLE2082/document.
This thesis investigates the issue of designing decentralized control laws to cooperatively control a team of robot manipulators. The purpose is to synchronize their movements while tracking common desired trajectory. Based on a combination of Lyapunov direct method and cross-coupling technique, To account for unmatched uncertainties, the proposed decentralized control laws are extended to an adaptive synchronization tracking controllers. Moreover, due to communication imperfection, time delay communication problems are considered in the performance analysis of the controllers. Another relevant problem for distributed synchronized systems is the leader-follower control problem. In this strategy, a decentralized control laws based on the backstepping scheme is proposed to deal with a leader-follower multiple robots structure. Based on graph theory, the coordination strategy combines the leader follower control with the decentralized control. The thesis, also considers the cooperative movement of under- actuated manipulators tracking reference trajectories defined by the user. The control problem for a network of class of under-actuated systems is considered. The approach we adopted in this thesis consists in decomposing the under-actuated manipulators into a cascade of passive subsystems that synchronize with he other neighbors subsystems. The resulting synchronized control law is basically a combination of non-regular backstepping procedure aided with some concepts from graph theory. The proposed controllers are validated numerically, assuming that the underlying communication graph is strongly connected. To implement these control strategies, we developed an experimental platform made of three robot manipulators
Asgari, Bagher. "Contribution à la prise en compte du comportement multi-technologique des robots industriels dans le contexte d'une architecture de commande décentralisée." Aix-Marseille 3, 1998. http://www.theses.fr/1998AIX30080.
Dubois, Michel. "MASL, Langage de controle multi-agents robotiques." Lorient, 2008. http://www.theses.fr/2008LORIS133.
The classical approach for Multi-Agent System (MAS) Control, especially autonomous and robotic ones, deals first from a microscopic point of view: each agent embed a control program with communication/synchronization primitives that enable cooperation between agents. The emergence of a global behaviour from a macroscopic point of view can only be observed afterwards. In this context, MASL offers a macroscopic and unified approach with heterogeneous and distributed calculations over deliberative, reactive or hybrid agents. In this high level language, regardless of the runtime, each concurrent agent locally decides its participation in a collective execution block named an e-block. Each e-block is an anonymous collective program that runs over an agent network following local conditions. The orchestral mode (scalar, asynchronous, synchronous) is statically fixed by a shared block attribute. The communication use shared memory, events, synchronous messages passing, and asynchronous messages passing. Heterogeneous agents are managed with heritage and polymorphism. Permeability mechanism, dealing with agent autonomy, allows an agent to dynamically filter calls to its interface in respects to the sender position in the e-block hierarchy. In dynamic task allocation of agents, auto failover and recovery, agent replacement in a robot fleet (case of agent failure, loss of a mandatory functionality for the mission) an e-block is an entry point of a collaborative work. In the case of synchronous e-block, the programming paradigm is the data parallel model with iterative task for waves of agents. Finally, MASL offers advances in the field of MAS (dynamic belonging to groups, accuracy of the pace of actions to undertake to enable a desired cooperation) and for the management of errors
Тези доповідей конференцій з теми "Commande multi-robots":
Rajagopalan, Ramesh, R. M. H. Cheng, and Gilles Huard. "Multi-Axis Motion Controllers for Robots and AGVs." In ASME 1991 International Computers in Engineering Conference and Exposition. American Society of Mechanical Engineers, 1991. http://dx.doi.org/10.1115/cie1991-0153.
Wu, Bin, and C. Steve Suh. "Decentralized Multi-Robot Motion Planning Applicable to Dynamic Environment." In ASME 2019 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/imece2019-10788.
McCann, Eric, Sean McSheehy, and Holly Yanco. "Multi-user multi-touch multi-robot command and control of multiple simulated robots." In the seventh annual ACM/IEEE international conference. New York, New York, USA: ACM Press, 2012. http://dx.doi.org/10.1145/2157689.2157824.
Barták, Roman, Ivan Krasičenko, and Jiří Švancara. "Multi-Agent Path Finding on Ozobots." In Twenty-Eighth International Joint Conference on Artificial Intelligence {IJCAI-19}. California: International Joint Conferences on Artificial Intelligence Organization, 2019. http://dx.doi.org/10.24963/ijcai.2019/933.
Meghdari, A., S. H. Mahboobi, and A. L. Gaskarimahalle. "Dynamics Modeling of “CEDRA” Rescue Robot on Uneven Terrains." In ASME 2004 International Mechanical Engineering Congress and Exposition. ASMEDC, 2004. http://dx.doi.org/10.1115/imece2004-59239.