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Socially-mediated negotiation for obstacle avoidance in collective transport
- In Proceedings of the International Symposium on Distributed Autonomous Robotics Systems (DARS 2010), Advanced Robotics Series
"... Abstract. In this paper, we present a novel method for performing collective trans-port in the presence of obstacles. Three robots are physically connected to an object to be transported from a start to a goal location. The task is particularly challenging because the robots have a heterogeneous per ..."
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Cited by 9 (9 self)
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Abstract. In this paper, we present a novel method for performing collective trans-port in the presence of obstacles. Three robots are physically connected to an object to be transported from a start to a goal location. The task is particularly challenging because the robots have a heterogeneous perception of the environment. In fact, the goal and the obstacles can be perceived only by some of the robots. Hence, the task requires appropriate negotiation of the direction among the robots. We developed a novel negotiation strategy in order to tackle this challenge. We perform experiments in simulation. In the experiments, we analyze efficiency in an environment with only one obstacle, and robustness in an environment with several obstacles. 1
Physical interactions in swarm robotics: the hand-bot case study
- in Proceedings of the 10th International Symposium on Distributed Autonomous Robotic Systems (DARS
, 2010
"... Abstract This paper presents a case-study on the performance achieved by the mechanical interactions of self-assembling mobile robots. This study is based on the hand-bot robot, designed to operate within heterogeneous swarms of robots. The hand-bot is specialized in object manipulation and can impr ..."
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Cited by 5 (3 self)
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Abstract This paper presents a case-study on the performance achieved by the mechanical interactions of self-assembling mobile robots. This study is based on the hand-bot robot, designed to operate within heterogeneous swarms of robots. The hand-bot is specialized in object manipulation and can improve its performance by exploiting physical collaborations by self-assembling with other hand-bots or with foot-bots (ground robots). The paper analyzes the achieved performance and demonstrates the highly super-linear properties of the accessible volume in respect to the number of robots. These extremely interesting performances are strongly linked to the self-assembling mechanisms and the physical nature of the interaction, and do not scale to a large number of robots. Finally, this study suggests that such interesting properties are more accessible for heterogeneous systems or devices achieving complex tasks. 1
POUR L'OBTENTION DU GRADE DE DOCTEUR ÈS SCIENCES PAR
, 2010
"... The present work tackles integration in mobile robotics. Integration is often considered to be a mere technique, unworthy of scientific investigation. On the contrary, we show that integrating capabilities in a mobile robot entails new questions that the parts alone do not feature. These questions r ..."
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The present work tackles integration in mobile robotics. Integration is often considered to be a mere technique, unworthy of scientific investigation. On the contrary, we show that integrating capabilities in a mobile robot entails new questions that the parts alone do not feature. These questions reflect the structure of the application and the physics of the world. We also show that a succesful integration process transforms the parts themselves and allows to scale up mobile-robot intelligence in real-world applications. In Chapter 2 we present the hardware. In Chapter 3, we show that building a low-level control architecture considering the mechanic and electronic reality of the robot improves the performances and allows to integrate a large number of sensors and actuators. In Chapter 4, we show that globally optimising mechatronic parameters considering the robot as a whole allows to implement slam using an inexpensive sensor with a low
Collective Transport
, 2010
"... The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright breaches that may result from publication of this paper in the IRIDIA – Technical Report Series. IRIDIA is ..."
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The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsability for any copyright breaches that may result from publication of this paper in the IRIDIA – Technical Report Series. IRIDIA is not responsible for any use that might be made of data appearing in this publication.
www.mdpi.com/journal/ijgi Article Simplified Occupancy Grid Indoor Mapping Optimized for Low-Cost Robots
, 2013
"... Abstract: This paper presents a mapping system that is suitable for small mobile robots. An ad hoc algorithm for mapping based on the Occupancy Grid method has been developed. The algorithm includes some simplifications in order to be used with low-cost hardware resources. The proposed mapping syste ..."
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Abstract: This paper presents a mapping system that is suitable for small mobile robots. An ad hoc algorithm for mapping based on the Occupancy Grid method has been developed. The algorithm includes some simplifications in order to be used with low-cost hardware resources. The proposed mapping system has been built in order to be completely autonomous and unassisted. The proposal has been tested with a mobile robot that uses infrared sensors to measure distances to obstacles and uses an ultrasonic beacon system for localization, besides wheel encoders. Finally, experimental results are presented.
