Navigation of non-communicating autonomous mobile robots with guaranteed connectivity
We consider the connectivity of autonomous mobile robots. The robots navigate using simple local steering rules without requiring explicit communication among themselves. We show that using only position information of neighbors the group connectivity can be sustained even in the case of bounded position measurement errors and the occlusion of robots by other robots in the group. In implementing the proposed scheme sub-optimal solutions are invoked to avoid an excessive computational burden. We also discuss the possibility of deadlock which may bring the group to a standstill and show that the proposed methodology avoids such a scenario in real-life settings.
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Isaac Asimov bilim kurgu alanindaki calismalariyla ve populer bilim kitaplariyla unlu bir yazardir. Asimov'un kurgusu cogunlukla insan uzerine olmakla birlikte robot ve insan arasindaki iliskileri ve bu iliskilerin iki grup ustundeki etkileriyle ilgilidir. Kendisi Ben Robot adli kitabinda uc robot yasasini yayinlamistir. Bu yasalara gore robotu olusturan ana tema itaat etmektir. Siberpunk animeler robotlar ve insanlar arasindaki iliskiyi detayli bir sekilde inceler ve bu iki kavrami ayiran bir ...
We consider connected navigation of autonomous mobile robots with transitions in the group formation. The robots navigate using simple local steering rules without requiring explicit communication among themselves. The formations are achieved by designing proper cost functions and formation transitions are succeeded by switching among these cost functions. The resulting system is proven to be deadlock-free under certain conditions. © 2013 IEEE.
The connectivity of the autonomous mobile robots is considered in this paper. The group navigation is provided using simple local steering rules and without any explicit communication. Sub-optimal solutions are invoked to avoid computational cost. We show that the connectivity of the group is preserved during the whole motion in spite of bounded measurement errors on angles and distances. Some special cases of group topology are also discussed.