LIVIVO - The Search Portal for Life Sciences

zur deutschen Oberfläche wechseln
Advanced search

Search results

Result 1 - 2 of total 2

Search options

  1. Book ; Online: A Mixed-Integer Approach for Motion Planning of Nonholonomic Robots under Visible Light Communication Constraints

    Caregnato-Neto, Angelo / Maximo, Marcos Ricardo Omena de Albuquerque / Afonso, Rubens Junqueira Magalhães

    2023  

    Abstract: This work addresses the problem of motion planning for a group of nonholonomic robots under Visible Light Communication (VLC) connectivity requirements. In particular, we consider an inspection task performed by a Robot Chain Control System (RCCS), where ...

    Abstract This work addresses the problem of motion planning for a group of nonholonomic robots under Visible Light Communication (VLC) connectivity requirements. In particular, we consider an inspection task performed by a Robot Chain Control System (RCCS), where a leader must visit relevant regions of an environment while the remaining robots operate as relays, maintaining the connectivity between the leader and a base station. We leverage Mixed-Integer Linear Programming (MILP) to design a trajectory planner that can coordinate the RCCS, minimizing time and control effort while also handling the issues of directed Line-Of-Sight (LOS), connectivity over directed networks, and the nonlinearity of the robots' dynamics. The efficacy of the proposal is demonstrated with realistic simulations in the Gazebo environment using the Turtlebot3 robot platform.

    Comment: This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible
    Keywords Computer Science - Robotics ; Computer Science - Multiagent Systems ; Electrical Engineering and Systems Science - Systems and Control
    Subject code 629 ; 000
    Publishing date 2023-06-27
    Publishing country us
    Document type Book ; Online
    Database BASE - Bielefeld Academic Search Engine (life sciences selection)

    Full text online

    More links

    Kategorien

    Inter-library loan at ZB MED

    Your chosen title can be delivered directly to ZB MED Cologne location if you are registered as a user at ZB MED Cologne.

  2. Book ; Online: Real-time motion planning and decision-making for a group of differential drive robots under connectivity constraints using robust MPC and mixed-integer programming

    Caregnato-Neto, Angelo / Maximo, Marcos Ricardo Omena de Albuquerque / Afonso, Rubens Junqueira Magalhães

    2022  

    Abstract: This work is concerned with the problem of planning trajectories and assigning tasks for a Multi-Agent System (MAS) comprised of differential drive robots. We propose a multirate hierarchical control structure that employs a planner based on robust Model ...

    Abstract This work is concerned with the problem of planning trajectories and assigning tasks for a Multi-Agent System (MAS) comprised of differential drive robots. We propose a multirate hierarchical control structure that employs a planner based on robust Model Predictive Control (MPC) with mixed-integer programming (MIP) encoding. The planner computes trajectories and assigns tasks for each element of the group in real-time, while also guaranteeing the communication network of the MAS to be robustly connected at all times. Additionally, we provide a data-based methodology to estimate the disturbances sets required by the robust MPC formulation. The results are demonstrated with experiments in two obstacle-filled scenarios

    Comment: Submitted to Advanced Robotics special issue on Online Motion Planning and Model Predictive Control
    Keywords Computer Science - Robotics ; Electrical Engineering and Systems Science - Systems and Control
    Subject code 000 ; 629
    Publishing date 2022-05-31
    Publishing country us
    Document type Book ; Online
    Database BASE - Bielefeld Academic Search Engine (life sciences selection)

    Full text online

    More links

    Kategorien

    Inter-library loan at ZB MED

    Your chosen title can be delivered directly to ZB MED Cologne location if you are registered as a user at ZB MED Cologne.

To top