Heterogeneous implementation of an adaptive robotic sensing team
نویسندگان
چکیده
When designing a mobile robotic team, an engineer is faced with many design choices. This paper discusses the design of a team consisting of two different models of robots with significantly different sensing and control capabilities intended to accomplish a similar task. Two new robotic platforms, the COTS Scout and the MegaScout are described along with their respective design considerations.
منابع مشابه
Design and Implementation of an Adaptive Heterogeneous Robotic Sensing Team A PLAN B THESIS BY Bradley E. Kratochvil IN PARTIAL FULFILLMENT OF THE REQUIREMENTS FOR THE DEGREE OF MASTER OF SCIENCE IN COMPUTER SCIENCE UNIVERSITY OF MINNESOTA
When designing a mobile robotic team, researchers are faced with many design choices. This paper discusses the design and implementation of a heterogeneous team consisting of two types of robots with significantly different sensing and control capabilities intended to accomplish a similar task. Two new robotic platforms, the COTS Scout and the MegaScout are described along with their respective...
متن کاملDesigning a Robust Control Scheme for Robotic Systems with an Adaptive Observer
This paper introduces a robust task-space control scheme for a robotic system with an adaptive observer. The proposed approach does not require the availability of the system states and an adaptive observer is developed to estimate the state variables. These estimated states are then used in the control scheme. First, the dynamic model of a robot is derived. Next, an observer-based robust contr...
متن کاملDynamic modeling and control of a 4 DOF robotic finger using adaptive-robust and adaptive-neural controllers
In this research, first, kinematic and dynamic equations of a 4-DOF 3-link robotic finger are derived using Denavit-Hartenberg convention and Lagrange’s formulation. To model the muscles, several springs and dampers are placed between the finger links. Then, two advanced controllers, namely adaptive-robust and adaptive-neural, which can control the robotic finger in presence of parametric uncer...
متن کاملAn indirect adaptive neuro-fuzzy speed control of induction motors
This paper presents an indirect adaptive system based on neuro-fuzzy approximators for the speed control of induction motors. The uncertainty including parametric variations, the external load disturbance and unmodeled dynamics is estimated and compensated by designing neuro-fuzzy systems. The contribution of this paper is presenting a stability analysis for neuro-fuzzy speed control of inducti...
متن کاملExploiting Heterogeneous Robotic Systems in Cooperative Missions
In this paper we consider the problem of coordinating robotic systems with different kinematics, sensing and vision capabilities to achieve certain mission goals. An approach that makes use of a heterogeneous team of agents has several advantages when cost, integration of capabilities, or large search areas need to be considered. A heterogeneous team allows for the robots to become “specialized...
متن کامل