Programming and Control of Multi-Robot Systems
نویسنده
چکیده
The paper presents a formalized approach to designing the structure of a controller and its programming method for a multi-robot system equipped with diverse external sensors. It shows that it is sufficient to extend a universal programming language by a single robot specific instruction to program such a system. Although, a single complex instruction would suffice, it is much more convenient to introduce two, but simpler ones. The paper shows how to implement such instructions using object-oriented approach. This approach has been used to implement Multi-Robot Research-Oriented Controller MRROC++.
منابع مشابه
A Multi-Stage Single-Machine Replacement Strategy Using Stochastic Dynamic Programming
In this paper, the single machine replacement problem is being modeled into the frameworks of stochastic dynamic programming and control threshold policy, where some properties of the optimal values of the control thresholds are derived. Using these properties and by minimizing a cost function, the optimal values of two control thresholds for the time between productions of two successive nonco...
متن کاملTrajectory Tracking Weeled Mobile Robot Using Backstepping Method with Connection off Axle Trailer
The connection of the tractor to the inactive trailer or motor vehicle causes a motion control problem when turning in the screw, forward or backward movements and high speeds. This is due to the inactive trailer being controlled by the tracking using a physical link that is not affected by the movement. Trailers usually take tracks under these conditions. This phenomenon is called Jack Knife. ...
متن کاملMulti-Objective Lead Time Control in Multistage Assembly Systems (TECHNICAL NOTE)
In this paper we develop a multi-objective model to optimally control the lead time of a multistage assembly system. The multistage assembly system is modeled as an open queueing network, whose service stations represent manufacturing or assembly operations. The arrival processes of the individual parts of the product, which should be assembled to each other in assembly stations, are assumed to...
متن کاملMobile robot wall-following control using a behavior-based fuzzy controller in unknown environments
This paper addresses a behavior-based fuzzy controller (BFC) for mobile robot wall-following control.The wall-following task is usually used to explore an unknown environment.The proposed BFC consists of three sub-fuzzy controllers, including Straight-based Fuzzy Controller (SFC),Left-based Fuzzy Controller (LFC), and Right-based Fuzzy Controller (RFC).The proposed wall-...
متن کاملMulti-item inventory model with probabilistic demand function under permissible delay in payment and fuzzy-stochastic budget constraint: A signomial geometric programming method
This study proposes a new multi-item inventory model with hybrid cost parameters under a fuzzy-stochastic constraint and permissible delay in payment. The price and marketing expenditure dependent stochastic demand and the demand dependent the unit production cost are considered. Shortages are allowed and partially backordered. The main objective of this paper is to determine selling price, mar...
متن کاملManipulation Control of a Flexible Space Free Flying Robot Using Fuzzy Tuning Approach
Cooperative object manipulation control of rigid-flexible multi-body systems in space is studied in this paper. During such tasks, flexible members like solar panels may get vibrated that in turn may lead to some oscillatory disturbing forces on other subsystems, and consequently produces error in the motion of the end-effectors of the cooperative manipulating arms. Therefore, to design and dev...
متن کامل