• Title/Summary/Keyword: multi-robot

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A Multi-Modal Complex Motion Authoring Tool for Creating Robot Contents

  • Seok, Kwang-Ho;Kim, Yoon-Sang
    • Journal of Korea Multimedia Society
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    • v.13 no.6
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    • pp.924-932
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    • 2010
  • This paper proposes a multi-modal complex motion authoring tool for creating robot contents. The proposed tool is user-friendly and allows general users without much knowledge about robots, including children, women and the elderly, to easily edit and modify robot contents. Furthermore, the tool uses multi-modal data including graphic motion, voice and music to simulate user-created robot contents in the 3D virtual environment. This allows the user to not only view the authoring process in real time but also transmit the final authored contents to control the robot. The validity of the proposed tool was examined based on simulations using the authored multi-modal complex motion robot contents as well as experiments of actual robot motions.

Study for Control Algorithm of Robust Multi-Robot in Dynamic Environment (동적인 환경에서 강인한 멀티로봇 제어 알고리즘 연구)

  • 홍성우;안두성
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2001.04a
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    • pp.249-254
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    • 2001
  • Abstract In this paper, we propose a method of cooperative control based on artifical intelligent system in distributed autonomous robotic system. In general, multi-agent behavior algorithm is simple and effective for small number of robots. And multi-robot behavior control is a simple reactive navigation strategy by combining repulsion from obstacles with attraction to a goal. However when the number of robot goes on increasing, this becomes difficult to be realized because multi-robot behavior algorithm provide on multiple constraints and goals in mobile robot navigation problems. As the solution of above problem, we propose an architecture of fuzzy system for each multi-robot speed control and fuzzy-neural network for obstacle avoidance. Here, we propose an architecture of fuzzy system for each multi-robot speed control and fuzzy-neural network for their direction to avoid obstacle. Our focus is on system of cooperative autonomous robots in environment with obstacle. For simulation, we divide experiment into two method. One method is motor schema-based formation control in previous and the other method is proposed by this paper. Simulation results are given in an obstacle environment and in an dynamic environment.

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A Workspace Analysis Method of Multi-Legged Walking Robot in the Velocity Domain (다족 보행로봇의 속도작업공간 해석)

  • 이지홍;전봉환
    • Journal of Institute of Control, Robotics and Systems
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    • v.8 no.6
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    • pp.477-483
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    • 2002
  • This paper deals with a workspace analysis of multi-legged walking robots in velocity domain(velocity workspace analysis). Noting that when robots are holding the same object in multiple cooperating robotic arm system the kinematic structure of the system is basically the same with that of a multi-legged walking robot standing on the ground, we invented a way ot applying the technique for multiple arm system to multi-legged walking robot. An important definition of reaction velocity is made and the bounds of velocities achievable by the moving body with multi-legs is derived from the given bounds on the capabilities of actuators of each legs through Jacobian matrix for given robot configuration. After some assumption of hard-foot-condition is adopted as a contact model between feet of robot and the ground, visualization process for the velocity workspace is proposed. Also, a series of application examples will be presented including continuous walking gaits as well as several different stationary posture of legged walking robots, which validate the usefulness of the proposed technique.

Robust Multidimensional Scaling for Multi-robot Localization (멀티로봇 위치 인식을 위한 강화 다차원 척도법)

  • Je, Hong-Mo;Kim, Dai-Jin
    • The Journal of Korea Robotics Society
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    • v.3 no.2
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    • pp.117-122
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    • 2008
  • This paper presents a multi-robot localization based on multidimensional scaling (MDS) in spite of the existence of incomplete and noisy data. While the traditional algorithms for MDS work on the full-rank distance matrix, there might be many missing data in the real world due to occlusions. Moreover, it has no considerations to dealing with the uncertainty due to noisy observations. We propose a robust MDS to handle both the incomplete and noisy data, which is applied to solve the multi-robot localization problem. To deal with the incomplete data, we use the Nystr$\ddot{o}$m approximation which approximates the full distance matrix. To deal with the uncertainty, we formulate a Bayesian framework for MDS which finds the posterior of coordinates of objects by means of statistical inference. We not only verify the performance of MDS-based multi-robot localization by computer simulations, but also implement a real world localization of multi-robot team. Using extensive empirical results, we show that the accuracy of the proposed method is almost similar to that of Monte Carlo Localization(MCL).

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Multi-Robot Localization based on Bayesian Multidimensional Scaling

  • Je, Hong-Mo;Kim, Dai-Jin
    • Proceedings of the Korea Inteligent Information System Society Conference
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    • 2007.11a
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    • pp.357-361
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    • 2007
  • This paper presents a multi-robot localization based on Bayesian Multidimensional Scaling (BMDS). We propose a robust MDS to handle both the incomplete and noisy data, which is applied to solve the multi-robot localization problem. To deal with the incomplete data, we use the Nystr${\ddot{o}}$m approximation which approximates the full distance matrix. To deal with the uncertainty, we formulate a Bayesian framework for MDS which finds the posterior of coordinates of objects by means of statistical inference. We not only verify the performance of MDS-based multi-robot localization by computer simulations, but also implement a real world localization of multi-robot team. Using extensive empirical results, we show that the accuracy of the proposed method is almost similar to that of Monte Carlo Localization(MCL).

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A combined auction mechanism for online instant planning in multi-robot transportation problem

  • Jonban, Mansour Selseleh;Akbarimajd, Adel;Hassanpour, Mohammad
    • Advances in robotics research
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    • v.2 no.3
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    • pp.247-257
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    • 2018
  • Various studies have been performed to coordinate robots in transporting objects and different artificial intelligence algorithms have been considered in this field. In this paper, we investigate and solve Multi-Robot Transportation problem by using a combined auction algorithm. In this algorithm each robot, as an agent, can perform the auction and allocate tasks. This agent tries to clear the auction by studying different states to increase payoff function. The algorithm presented in this paper has been applied to a multi-robot system where robots are responsible for transporting objects. Using this algorithm, robots are able to improve their actions and decisions. To show the excellence of the proposed algorithm, its performance is compared with three heuristic algorithms by statistical simulation approach.

A RFID-Based Multi-Robot Management System Available in Indoor Environments (실내 환경에서 운영 가능한 RFID 기반 멀티 로봇 관리 시스템)

  • An, Sang-Sun;Shin, Sung-Oog;Lee, Jeong-Oog;Baik, Doo-Kwon
    • Journal of the Korea Society of Computer and Information
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    • v.13 no.6
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    • pp.13-24
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    • 2008
  • The multi robot operation technique has emerged as one of the most important research subjects that focus on minimizing redundancy in space exploration and maximizing the efficiency of operation. For an efficient operation of the multi robot systems, the movement of each Single robot in the multi robot systems should be properly observed and controlled. This paper suggests Multi Robot Management System to minimize redundancy in space exploration by assigning exploration space to each robot efficiently to take advantage of the RFID. Also, this paper has suggested fault tolerance technique that detects disable Single robot and substitute it by activated Single robot in order to ensure overall exploration and improve efficiency of exploration. Proposed system overcomes previous fault that it is difficult for central server to detect exact position of robot by using RFID system and Home Robot. Designated Home robot manages each Single robot efficiently and assigns the best suited space to Single robot by using RFID Tag Information. Proposed multi robot management system uses RFID for space assignment, Localization and Mapping efficiently and not only maximizes the efficiency of operation, but also ensures reliability by supporting fault-tolerance, compared with Single robot system. Also, through simulation, this paper proves efficiency of spending time and redundancy rates between multi robot management applied by proposed system and not applied by proposed system.

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A study on the development of multi-task operating system for industrial robot controller (산업용 로보트 제어기의 multi task 운영체계 개발에 관한 연구)

  • 장성석;조영인;김수종;정창범;이인옥
    • 제어로봇시스템학회:학술대회논문집
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    • 1988.10a
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    • pp.497-500
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    • 1988
  • The multi-task operating system called HRMTOS (HUNDAI Robot Multi-task Operating System) was developed for concurrent execution. HRMTOS consists of condition interpreter, queue constructor, task scheduler. Condition interpreter checks the status and condition of request, queue constructor makes queue according to the checked result by condition interpreter, and task scheduler finds the task that will be urgently executed by priority of queue after pending the current excuting task. HRMTOS could execute teaching, playback, monitoring function of multi-robot and could be used more effectively than other robot controllers.

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Development of a Multi-joint Robot Manipulator for Robot Milking System (로봇 착유시스템을 위한 다관절 매니퓰레이터 개발)

  • Kim W.;Lee D. W.
    • Journal of Biosystems Engineering
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    • v.30 no.5 s.112
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    • pp.293-298
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    • 2005
  • The purpose of this study was the development of a multi-joint robot manipulator for milking robot system. The multi-joint robot manipulator was controlled by 5 drivers with driver controller through the position information obtained from the image processing system. The robot manipulator to automatically attach each teat cup to the teats of a milking cow was developed and it's motion was accurately measured with error rate. Results were as follows. 1. Maximum errors in position accuracy were 4mm along X-axis, 4.5mm along Y-axis and 0.9mm along Z-axis. Absolute distance errors were maximum 4.8mm, minimum 2.7mm, and average 3.6mm. 2. Errors of repeatability were maximum 3.0mm along X-axis, 3.0mm along Y-axis, and 0.5mm along Z-axis. Distance error values were maximum 3.2mm, minimum 2.2mm, and average 2.5mm. It is envisaged that multi-joint robot manipulator can be applicate to milking robot system being developed in consideration of the experiment results.

The development of a micro robot system for robot soccer game (로봇 축구 대회를 위한 마이크로 로봇 시스템의 개발)

  • 이수호;김경훈;김주곤;조형석
    • 제어로봇시스템학회:학술대회논문집
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    • 1996.10b
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    • pp.507-510
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    • 1996
  • In this paper we present the multi-agent robot system developed for participating in micro robot soccer tournament. The multi-agent robot system consists of micro robot, a vision system, a host computer and a communication module. Mcro robot are equipped with two mini DC motors with encoders and gearboxes, a R/F receiver, a CPU and infrared sensors for obstacle detection. A vision system is used to recognize the position of the ball and opponent robots, position and orientation of our robots. The vision system is composed of a color CCD camera and a vision processing unit. Host computer is a Pentium PC, and it receives information from the vision system, generates commands for each robot using a robot management algorithm and transmits commands to the robots by the R/F communication module. And in order to achieve a given mission in micro robot soccer game, cooperative behaviors by robots are essential. Cooperative work between individual agents is achieved by the command of host computer.

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