2015 12th International Conference on Informatics in Control, Automation and Robotics (ICINCO), 2015
In this paper proposes a new idea inspired form molecular dynamics theory, i.e. amber force field... more In this paper proposes a new idea inspired form molecular dynamics theory, i.e. amber force fields to form a Y-Pod formation of swarm robots. From a molecular dynamics point of view, molecules which contain large amounts of atoms form desired crystallization formations. So, we barrowed this idea and each atom is treated as an atom robot to form the desired pattern. In molecules, bond length and bond angle parameters are chosen from empirical values. However, in our task the chosen simulation tuned the parameters to eventually control the robots in terms of force fields and alignment to overcome cohesiveness and consensus problems. Finally, an implemented virtual leader carried Y-Pod formation to reach the desired destination point.
In a multi-robot system, the outcome depends significantly on how well the motion of individual r... more In a multi-robot system, the outcome depends significantly on how well the motion of individual robots are coordinated. The research challenge lies in formulating computational paradigms and strategies that allow a realtime search for optimal coordinated motions of individual robots under excessive search complexity. In this paper, the concept of the “mappeable zone” is proposed which represent a set of environment positions that the robot or a group or robots can map first, should it choose to do so at time t against the same attempt of another robot or a group of robots. A systematic way of computing various forms of mappealbe zones is presented. Based on such concept, a group of robots can identify whether an object can be mapped or not, and which strategy is appropiated for the group. The coordinated motions of individual robots are then determined based on the chosen strategy. Some simulation results are shown.
This paper introduces dynamical aspects into physical agents design. Some current approaches are ... more This paper introduces dynamical aspects into physical agents design. Some current approaches are introduced into this new conception that takes into account dynamics for evaluating the difficulty of agent actions. A example of a convoy system shows some preliminary results.
L'experiencia de l'autor en la tematica dagents intelligents i la seva aplicacio als robo... more L'experiencia de l'autor en la tematica dagents intelligents i la seva aplicacio als robots que emulen el joc de futbol han donat el bagatge suficient per poder encetar i proposar la tematica plantejada en aquesta tesi: com fer que un complicat robot pugui treure el maxim suc de l'autoconeixement de lestructura de control inclosa al seu propi cos fisic, i aixi poder cooperar millor amb daltres agents per optimitzar el rendiment a lhora de resoldre problemes de cooperacio. Per resoldre aquesta questio es proposa incorporar la dinamica del cos fisic en les decisions cooperatives dels agents fisics unificant els mons de lautomatica, la robotica i la intelligencia artificial a traves de la nocio de capacitat: la capacitat vista com a entitat on els enginyers de control dipositen el seu coneixement, i a la vegada la capacitat vista com la utilitat on un agent hi diposita el seu autoconeixement del seu cos fisic que ha obtingut per introspeccio. En aquesta tesi es presenta l&#...
This paper proposes the use of a linearized second-order model of the mobile robot dynamics in or... more This paper proposes the use of a linearized second-order model of the mobile robot dynamics in order to discuss the performance of a path in terms of over-shoot and settle time parameters. A control law based of pole location method is proposed and some results are shown applied to the shooting-ball action.
This article presents an environment based entirely on MATLAB which allows experiments with simul... more This article presents an environment based entirely on MATLAB which allows experiments with simulated and real mobile robots. There are various graphical tools to introduce realistic models of engines, designing motion control systems for robots, configure the distribution of its proximity sensors, creating an environment with obstacles, and program behaviors and simulate their movements. The simulator collects data for further analysis of the drivers, engines and robot behaviors. The simulation method allows an animation of the movement of the robot displaying the activation states of the sensors. The environment is designed with a modular structure which allows the realization of extensions and modifications. In this regard we would highlight several works made by PHAGSIM such as simulated robotic soccer, the behavior of a Koala robot, or a real teleoperated mobile robot.
ABSTRACT Multi-agent decision-making structures are expected to be extensively applied situations... more ABSTRACT Multi-agent decision-making structures are expected to be extensively applied situations in complex industrial systems (namely distributed systems like energy or material distribution networks, big plants with several stations and difficult processes with huge number of variables). Multi-robotic soccer competitions are a forum where rules and constraints are good to develop, apply, and test those structures. This paper shows new developments under Matlab/Simulink that allow decision-making among agents which, in this case, co-operate to play soccer game.
2015 12th International Conference on Informatics in Control, Automation and Robotics (ICINCO), 2015
In this paper proposes a new idea inspired form molecular dynamics theory, i.e. amber force field... more In this paper proposes a new idea inspired form molecular dynamics theory, i.e. amber force fields to form a Y-Pod formation of swarm robots. From a molecular dynamics point of view, molecules which contain large amounts of atoms form desired crystallization formations. So, we barrowed this idea and each atom is treated as an atom robot to form the desired pattern. In molecules, bond length and bond angle parameters are chosen from empirical values. However, in our task the chosen simulation tuned the parameters to eventually control the robots in terms of force fields and alignment to overcome cohesiveness and consensus problems. Finally, an implemented virtual leader carried Y-Pod formation to reach the desired destination point.
In a multi-robot system, the outcome depends significantly on how well the motion of individual r... more In a multi-robot system, the outcome depends significantly on how well the motion of individual robots are coordinated. The research challenge lies in formulating computational paradigms and strategies that allow a realtime search for optimal coordinated motions of individual robots under excessive search complexity. In this paper, the concept of the “mappeable zone” is proposed which represent a set of environment positions that the robot or a group or robots can map first, should it choose to do so at time t against the same attempt of another robot or a group of robots. A systematic way of computing various forms of mappealbe zones is presented. Based on such concept, a group of robots can identify whether an object can be mapped or not, and which strategy is appropiated for the group. The coordinated motions of individual robots are then determined based on the chosen strategy. Some simulation results are shown.
This paper introduces dynamical aspects into physical agents design. Some current approaches are ... more This paper introduces dynamical aspects into physical agents design. Some current approaches are introduced into this new conception that takes into account dynamics for evaluating the difficulty of agent actions. A example of a convoy system shows some preliminary results.
L'experiencia de l'autor en la tematica dagents intelligents i la seva aplicacio als robo... more L'experiencia de l'autor en la tematica dagents intelligents i la seva aplicacio als robots que emulen el joc de futbol han donat el bagatge suficient per poder encetar i proposar la tematica plantejada en aquesta tesi: com fer que un complicat robot pugui treure el maxim suc de l'autoconeixement de lestructura de control inclosa al seu propi cos fisic, i aixi poder cooperar millor amb daltres agents per optimitzar el rendiment a lhora de resoldre problemes de cooperacio. Per resoldre aquesta questio es proposa incorporar la dinamica del cos fisic en les decisions cooperatives dels agents fisics unificant els mons de lautomatica, la robotica i la intelligencia artificial a traves de la nocio de capacitat: la capacitat vista com a entitat on els enginyers de control dipositen el seu coneixement, i a la vegada la capacitat vista com la utilitat on un agent hi diposita el seu autoconeixement del seu cos fisic que ha obtingut per introspeccio. En aquesta tesi es presenta l&#...
This paper proposes the use of a linearized second-order model of the mobile robot dynamics in or... more This paper proposes the use of a linearized second-order model of the mobile robot dynamics in order to discuss the performance of a path in terms of over-shoot and settle time parameters. A control law based of pole location method is proposed and some results are shown applied to the shooting-ball action.
This article presents an environment based entirely on MATLAB which allows experiments with simul... more This article presents an environment based entirely on MATLAB which allows experiments with simulated and real mobile robots. There are various graphical tools to introduce realistic models of engines, designing motion control systems for robots, configure the distribution of its proximity sensors, creating an environment with obstacles, and program behaviors and simulate their movements. The simulator collects data for further analysis of the drivers, engines and robot behaviors. The simulation method allows an animation of the movement of the robot displaying the activation states of the sensors. The environment is designed with a modular structure which allows the realization of extensions and modifications. In this regard we would highlight several works made by PHAGSIM such as simulated robotic soccer, the behavior of a Koala robot, or a real teleoperated mobile robot.
ABSTRACT Multi-agent decision-making structures are expected to be extensively applied situations... more ABSTRACT Multi-agent decision-making structures are expected to be extensively applied situations in complex industrial systems (namely distributed systems like energy or material distribution networks, big plants with several stations and difficult processes with huge number of variables). Multi-robotic soccer competitions are a forum where rules and constraints are good to develop, apply, and test those structures. This paper shows new developments under Matlab/Simulink that allow decision-making among agents which, in this case, co-operate to play soccer game.
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