Mobile Robotics - Science topic

Cooperative autonomous exploration is a challenging task for multi-robot systems, which can cover larger areas in a shorter time or path length. Using multiple mobile robots for cooperative exploration of unknown environments can be more efficient than a single robot, but there are also many difficulties in multi-robot cooperative autonomous explor...

Robot localization is a crucial task in robotic systems and is a pre-requisite for navigation. In outdoor environments, Global Navigation Satellite Systems (GNSS) have aided towards this direction, alongside laser and visual sensing. Despite their application in the field, GNSS suffers from limited availability in dense urban and rural environments...

As a kind of mobile robot, the intelligent trolley is also called a wheeled robot, and this field is the fastest growing in the current technological development. Smart trolleys have good automatic guidance functions, often used in modern logistics conveying systems. A fuzzy control algorithm has a good control effect for nonlinear systems and has...

Automation in the modern world has become a necessity for humans. Intelligent mobile robots have become necessary to perform various complex tasks in healthcare and industry environments. Mobile robots have gained attention during the pandemic; human–robot interaction has become vibrant. However, there are many challenges in obtaining human–robot i...

In this paper is presented the design and syntheis of a dynamic output feedback neural network controller for a non-holonomic mobile robot. First the dynamic model of a non-holonomic mobile robot is presented, in which these constraints are considered for the mathematical derivation of a feasable representation for this kind of robot. Then two cont...

We address the problem of controlling Connected and Automated Vehicles (CAVs) in conflict areas of a traffic network subject to hard safety constraints. It has been shown that such problems can be solved through a combination of tractable optimal control problems and Control Barrier Functions (CBFs) that guarantee the satisfaction of all constraint...

Software framework for robotic systems is dominated by several community-adopted generic global solutions that work well for common problems and applications. However, they are not suitable for all state-of-the-art topics. In this sense, we present a practical implementation of a new software architecture that fills some gaps in mobile robotic soft...

This work attempts to reduce the barriers towards long-term autonomy of mobile outdoor robots by identifying and classifying key difficulties in such a context and developing a fully integrated monitoring and resolution framework capable of overcoming typical limitations for those systems. Experimental evaluation of the proposed framework in a simu...

The current computational advance allows the development of technological solutions using tools, such as mobile robots and programmable electronic systems. We present a design that integrates the Khepera IV mobile robot with an NVIDIA Jetson Xavier NX board. This system executes an algorithm for navigation control based on computer vision and the u...

Path planning is an essential algorithm in any autonomous mobile robot, including agricultural robots. One of the reinforcement learning methods that can be used for mobile robot path planning is the Q-Learning algorithm. However, the conventional Q-learning method explores all possible robot states in order to find the most optimum path. Thus, thi...

The speed of solving and processing factors that are beneficial in reaching the desired target is one of the problematic aspects of controlling robots that has been neglected by the majority of researchers. Therefore, it is essential to look into the factors that influence calculation speed and goal achievement, and there should be some solutions t...

Variasi Beban Pengujian Stress Analysis Mobil Robot Penyerap Oli Tumpah Pada Industri Produksi

For tracking and motion capture (MoCap) of animals in their natural habitat, a formation of safe and silent aerial platforms, such as airships with on-board cameras, is well suited. In our prior work we derived formation properties for optimal MoCap, which include maintaining constant angular separation between observers w.r.t. the subject, thresho...

Mobile robots are widely used in various fields, including cosmic exploration, logistics delivery, and emergency rescue and so on. Path planning of mobile robots is essential for completing their tasks. Therefore, Path planning algorithms capable of finding their best path are needed. To address this challenge, we thus develop improved multi-object...

We present an approach for estimating a mobile robot's pose w.r.t. the allocentric coordinates of a network of static cameras using multi-view RGB images. The images are processed online, locally on smart edge sensors by deep neural networks to detect the robot and estimate 2D keypoints defined at distinctive positions of the 3D robot model. Robot...

Nowadays, cyber-physical systems (CPSs) are composed of more and more agents and the demand for designers to develop ever larger multi-agent systems is a fact. When the number of agents increases, several challenges related to control or communication problems arise due to the lack of scalability of existing solutions. It is important to develop to...

This paper describes the process of designing, building and testing an experimental model of tracked mobile robot with a hybrid drive train. This conceptual model has been designed using the SolidWorks software. It is intended for performing reconnaissance and monitoring missions in structured environments. The hybrid propulsion system has the role...

This paper considers the global trajectory tracking control problem of wheeled mobile robot. A novel tracking controller for the kinematic model of wheeled mobile robot is presented based on the cascaded approach theory. Meanwhile, by using the Lyapunov stability theory, the stability of the controller is proved. Finally, the proposed scheme is imp...

Terrain classification plays a vital role in the autonomous driving of tracked mobile robots. This article proposes a heterogeneous ensemble method to enhance the classification performance with weak classifiers. Combined with principal component analysis (PCA) and ReiefF, a feature selection approach aims to find an effective feature set. Based on...

span lang="EN-US">This paper aims at designing and implementing an intelligent controller for the orientation control of a two-wheeled mobile robot. The controller is designed in LabVIEW and based on analyzed image parameters from cameras. The image program calculates the distance and angle from the camera to the object. The fuzzy controller will g...

This paper proposes a new online calibration method for the differential-drive mobile robot equipped with a laser scanner. Our algorithm can jointly estimate the 3-DoF extrinsic parameters of the laser scanner and the intrinsic parameters (radii and wheel spacing) of the differential-drive kinematic model. Applying the pre-integration theory initia...

The movement of a mobile robot in a non-deterministic environment is accompanied by maneuvering due to the need to avoid a collision with a fixed or moving obstacle. Under certain conditions, several obstacles, including moving ones, may appear in the near zone of the robot. In this case, trajectory-planning algorithms based on a “static” approach...

Image-based robot action planning is becoming an active area of research owing to recent advances in deep learning. To evaluate and execute robot actions, recently proposed approaches require the estimation of the optimal cost-minimizing path, such as the shortest distance or time, between two states. To estimate the cost, parametric models consist...

For autonomous mobile service robots, closed doors that are in their way are restricting obstacles. In order to open doors with on-board manipulation skills, a robot needs to be able to localize the door’s key features, such as the hinge and handle, as well as the current opening angle. While there are vision-based approaches for detecting doors an...

Many existing multi-agent path finding (MAPF) solvers focus on completeness, speed, or optimization. However, completeness and rapidity are usually in conflict with each other, which makes these algorithms far from satisfactory in practical applications. Motivated by this realistic requirement, we propose an efficient decoupling method to accelerat...

Berkembangnya teknologi robotika yang sangat cepat dan pesat mengakibatkan peran robotika sangat berpengaruh dalam kehidupan manusia. Pada bidang industri, robot difungsikan salah satunya untuk memindahkan barang ke tempat yang sudah ditentukan. Pada penelitian mobile robot beroda ini menggunakan perekaman data menggunakan sensor odometry. Sensor o...

Real-time experiments are carried out to perform trajectory tracking tasks utilizing Wheeled Mobile Robots (WMR) affected by kinematic disturbances, noisy measurements, and state estimation errors.

This study aims to address the challenge of low-cost hardware implementation of a combined backstepping with fractional order PID (FOPID) controller for mobile robots in real-time applications. Moreover, this work proposes a self-designed mobile robot prototype that is easy to realize, low in cost, spares time, and reduces human effort. This robot...

While many people with disabilities can benefit from power wheelchairs, some people with disabilities find it difficult or impossible to use a basic power wheelchair. To serve this group, several researchers have developed "smart wheelchairs" that use technologies originally developed for mobile robots to reduce the physical, perceptual, and cognit...

This paper presents a novel approach in autonomous robot control, named LLM-BRAIn, that makes possible robot behavior generation, based on operator's commands. LLM-BRAIn is a transformer-based Large Language Model (LLM) fine-tuned from Stanford Alpaca 7B model to generate robot behavior tree (BT) from the text description. We train the LLM-BRAIn on...

The paper presents (Electro-oculography) EOG- (Electroencephalography) EEG- Radio Frequency Identification (RFID) based Bimodal-Shared Control Interface for mobility assistance application by controlling a mobile robotic arm. EOG-EEG based bio-signal based bimodal interface has been used to move the robot following a predefined path to reach at an...

Trajectory planning for multiple robots in shared environments is a challenging problem especially when there is limited communication available or no central entity. In this article, we present Real-time planning using Linear Spatial Separations, or RLSS: a real-time decentralized trajectory planning algorithm for cooperative multi-robot teams in...

Sensor simulation has emerged as a promising and powerful technique to find solutions to many real-world robotic tasks like localization and pose tracking. However, commonly used simulators have high hardware requirements and are therefore used mostly on high-end computers. In this paper, we present an approach to simulate range sensors directly on...

Late-life balance disorders remain a severe problem with fatal consequences. Perturbation-based balance training (PBT), a form of rehabilitation that intentionally introduces small, unpredictable disruptions to an individual's gait cycle, can improve balance. The Tethered Pelvic Assist Device (TPAD) is a cable-driven robotic trainer that applies pe...

This paper presents the development of the JKU-ITS Last Mile Delivery Robot. The proposed approach utilizes a combination of one 3D LIDAR, RGB-D camera, IMU and GPS sensor on top of a mobile robot slope mower. An embedded computer, running ROS1, is utilized to process the sensor data streams to enable 2D and 3D Simultaneous Localization and Mapping...

Targeting some problems of the RRT_Connect path planning algorithm, such as average search and low efficiency, proposes an improved RRT_Connect algorithm that may optimize the searched nodes and parts of planned paths. Firstly, an improved RRT_Connect algorithm based on destination and searched node bias strategy is proposed. Secondly, an improved...

Robotic rovers equipped with articulated rocker-bogie suspension have aroused great interest after the explorations on Mars; this interest has also shifted to different types of terrestrial applications such as in the agriculture, military, and rescue fields. The suspension can be designed so that, when the rover is on flat and horizontal ground, t...

The main challenge of any mobile robot is to detect and avoid obstacles and potholes. This paper presents the development and implementation of a novel mobile robot. An Arduino Uno is used as the processing unit of the robot. A Sharp distance measurement sensor and Ultrasonic sensors are used for taking inputs from the environment. The robot trains...

Collecting scattered tennis balls after training sessions is often a tedious task for already exhausted players. In this paper, we propose and compare two computer vision approaches that can be implemented on a relatively affordable mobile robot to automate the task of tennis ball collection. After investigating the utility of Convolutional Neural...

Path planning is an important area of mobile robot research, and the ant colony optimization algorithm is essential for analyzing path planning. However, the current ant colony optimization algorithm applied to the path planning of mobile robots still has some limitations, including early blind search, slow convergence speed, and more turns. To ove...

Three-dimensional concrete printing is a technique that has been growing constantly, presenting advantages such as reduced completion times and a decreased environmental impact by eliminating the use of formworks. To carry out the process, the printing path of the extruded material and the movement of a robot must be programmed. Thus, the present r...

In the 3d dense map construction system of indoor scene by mobile robot, the existing single sensor method cannot improve the positioning accuracy and reconstruction accuracy of robot, as well as the requirement of rapidity. Therefore, it is applied to THE ORB-SLAM with three parallel threads of track tracking, map reconstruction and loopback detec...

Prototyping and validating hardware–software components, sub-systems and systems within the intelligent transportation system-of-systems framework requires a modular yet flexible and open-access ecosystem. This work presents our attempt to develop such a comprehensive research and education ecosystem, called AutoDRIVE, for synergistically prototypi...

Nowadays, portable Mobile Mapping Systems (MMSs) and robotic mapping platforms leveraging on Simultaneous Localization and Mapping (SLAM) methods are gaining increasing attention for architectural and construction surveying, representing an efficient solution for geometric data acquisition for scan-to-BIM purposes. However, the applicability of sta...

Developments in light detection and ranging (LiDAR) technology have brought innovations in three-dimensional (3D) measurement. After mechanical laser scanners were introduced in the 1990s, the speed and point density of LiDAR measurements have increased considerably with the developments in photon imagers. On the other hand, lightweight and small-s...

During the implementation of the SLAM methods based on probability hypothesis density (PHD) with sequential Monte Carlo (SMC), it is necessary to generate a relatively large number of particles for mapping and cluster particles for target state extraction, which brings about heavy computing requirements and difficulty in enhancing the estimation ac...

Wheeled mobile robots, particularly omnidirectional wheeled mobile robots are widely employed for various applications in different environments, which might be subjected to unevenness and irregularities in practice. This type of robot must be able to fulfill its maneuvers kinematically to prevent disruptions due to unevenness in its navigation, st...

Monitoring and controlling a large-scale spatiotemporal process can be costly and dangerous for human operators, which can delegate the task to mobile robots for improved efficiency at a lower cost. The complex evolution of the spatiotemporal process and limited onboard resources of the robots motivate a holistic design of the robots’ actions to co...

The situation awareness, especially for collaborative robots, plays a crucial role when humans and machines work together in a human-centered, dynamic environment. Only when the humans understands how well the robot is aware of its environment can they build trust and delegate tasks that the robot can complete successfully. However, the state of si...

During the design of a wheeled mobile robot, the problem of the proper selection of the parameters of its motor controllers was encountered. Knowing the parameters of the robot’s Permanent Magnet Direct Current (PMDC) motors, precise tuning of the controllers can be performed, which then results in improved robot dynamics. Among many methods of par...

The burgeoning complexity of space missions has amplified the research focus on robots that are capable of assisting astronauts in accomplishing tasks within space stations. Nevertheless, these robots grapple with substantial mobility challenges in a weightless environment. This study proposed an omnidirectional continuous movement method for a dua...

Many heat transfer tubes are distributed on the tube plates of a steam generator that requires periodic inspection by robots. Existing inspection robots are usually involved in issues: Robots with manipulators need complicated installation due to their fixed base; tube mobile robots suffer from low running efficiency because of their structural res...

To enable mobile robots to effectively deal with the emergency of visual contamination, contingency planning based on case-based reasoning (CBR) was performed in this paper. First, for a wheeled mobile robot (WMR) equipped with a chameleon-inspired visual system, a target search model in chameleon-inspired binocular negative correlation movement (C...

This paper proposes an approach to enhance the robustness and accuracy of visual simultaneous localization and mapping (SLAM) for ground wheeled mobile robots in dynamic environments. The proposed method incorporates encoder measurements to establish optimization constraints in bundle adjustment. To further improve robustness, a geometric technique...

This paper proposes a new adaptive controller for three-wheeled mobile robots (3WMRs) called the ABHSMC controller. This ABHSMC controller is developed through a cooperative approach, combining a backstepping controller and a Radial Basis Function (RBF) neural network-based Hierarchical Sliding Mode Controller (HSMC). Notably, the RBF neural networ...

Object detection is an essential component of autonomous mobile robotic systems, enabling robots to understand and interact with the environment. Object detection and recognition have made significant progress using convolutional neural networks (CNNs). Widely used in autonomous mobile robot applications, CNNs can quickly identify complicated image...

Considering the wheeled mobile robot (WMR) tracking problem with velocity saturation, we developed a data‐driven iterative learning double loop control method with constraints. First, the authors designed an outer loop controller to provide virtual velocity for the inner loop according to the position and pose tracking error of the WMR kinematic mo...

In the human-following task, the human detection, tracking and identification are fundamental steps to help the mobile robot to follow and maintain an appropriate distance and orientation to the selected target person (STP) without any threatenings. Recently, along with the widespread development of robots in general and service robots in particula...

Due to the development of big data, there are more and more available data sources leading to heterogeneous data. The field of multi-modal machine learning can process heterogeneous data from multiple sources and modalities and fuse heterogeneous features appropriately to provide higher efficiency and precision. In this contribution, a new modular...

This document revises the latest results related to robotic non-prehensile object transportation. The problem consists of a robotic arm transporting an object along the desired trajectory on a tray, guaranteeing a sticking behaviour and other constraints. The solution in [1], where an optimal control problem has been devised, is revised together wi...

In this paper, we suggest an implementation of non-commutative logic and apply its operators for decision-making in a group of autonomous agents. The suggested operators extend the uninorm and absorbing norm aggregators and use an additional asymmetry parameter that defines the "level of non-commutativity". The value of this parameter is specified...

Point clouds represent an important way for robots to perceive their environments, and can be acquired by mobile robots with LiDAR sensors or underwater robots with sonar sensors. Hence, real-time semantic segmentation of point clouds with onboard edge devices is essential for robots to apprehend their surroundings. In this paper, we propose an onb...

This study presents an innovative path-following scheme using a new intelligent type-3 fuzzy system for mobile robots. By designing a non-singleton FS and incorporating error measurement signals, this system is able to handle natural disturbances and dynamics uncertainties. To further enhance accuracy, a Boltzmann machine (BM) models tracking error...

Due to the high stability and adaptability, quadruped robots are currently highly discussed in the robotics field. To overcome the complicated environment indoor or outdoor, the quadruped robots should be configured with an environment perception system, which mostly contain LiDAR or a vision sensor, and SLAM (Simultaneous Localization and Mapping)...

Virtual simulation testing of Autonomous Vehicles (AVs) is gradually being accepted as a mandatory way to test the feasibility of driving strategies for AVs. Mainstream methods focus on improving testing efficiency by extracting critical scenarios from naturalistic driving datasets. However, the criticalities defined in their testing tasks are base...

In automated warehouses, teams of mobile robots fulfill the packaging process by transferring inventory pods to designated workstations while navigating narrow aisles formed by tightly packed pods. This problem is typically modeled as a Multi-Agent Pickup and Delivery (MAPD) problem, which is then solved by repeatedly planning collision-free paths...

This study involved implementing a fuzzy controller approach to create a ground-based control model for an autonomous robot in a stable environment. In addition, a classical control method was developed and tested within the results. With the fuzzy controller approach, it was studied that the robot moves easily in the test environment and goes to d...

Search and rescue robots gained a significant attention in the past, as they assist firefighters during their rescue missions. The opportunity to move autonomously or remotely controlled with intelligent sensor technology, to detect victims in unknown fire smoke environments, introduces a growing technology in fire engineering. Since sensor systems...

A critical part of Automated Material Handling Systems (AMHS) is the task allocation and dispatching strategy employed. In order to better understand and investigate this component, we here present an extensive experimental evaluation of three different approaches with randomly generated, as well as custom designed, environment configurations. Whil...

Stair climbing is one of the most challenging tasks for vehicles, especially when transporting people and heavy loads. Although many solutions have been proposed and demonstrated in practice, it is necessary to further improve their climbing ability and safety. This paper presents a systematic review of the scientific and engineering stair climbing...

To enable mobile robots to effectively complete path planning in dynamic environments, a hybrid path planning method based on particle swarm optimization (PSO) and dynamic window approach (DWA) is proposed in this paper. First, an improved particle swarm optimization (IPSO) is proposed to enhance the exploration capability and search accuracy of th...

Ensuring safe and continuous autonomous navigation in long-term mobile robot applications is still challenging. To ensure a reliable representation of the current environment without the need for periodic re-mapping, updating the map is recommended. However, in case of incorrect estimation of robot pose, updating the map can lead to errors that pre...