The productivity of greenhouses highly depends on the environmental conditions of crops, such as temperature and humidity. The control and monitoring might need large sensor networks, and as a consequence, mobile sensory systems might be a more suitable solution. This paper describes the application of a heterogeneous robot team to monitor environmental variables of greenhouses. The multi-robot...

The trajectory planning for ground mobile robots operating in unknown environments can be a difficult task. In many cases, the sensors used detecting obstacles only provide information about immediate surroundings, making it to generate an efficient long-term path. For instance, robot easily choose move along free path that, eventually, will have dead end. This research is intended develop coop...

This paper describes MRESim, a multi-robot exploration simulator which aims to provide a middle ground between the RoboCup Agent and Virtual Robot competitions. A detailed description of this new infrastructure is provided, followed by examples and case studies of successful research outcomes arising from the use of MRESim. Our work on MRESim won the 2014 Infrastructure competition of the RoboC...

The design of a knee joint is a key issue in robotics and biomechanics to improve the compatibility between prosthesis and human movements and to improve the bipedal robot performances. We propose a novel design for the knee joint of a planar bipedal robot, based on a four-bar linkage. The dynamic model of the planar bipedal robot is calculated. We design walking reference trajectories with dou...

In this paper we discuss the design and evolution of Trinity College’s ALVIN robot, an autonomous ground vehicle that has participated in the Association for Unmanned Vehicle Systems International Intelligent Ground Vehicle Competition (IGVC) since 2000. The paper first discusses the Trinity Robot Study Team, which has been responsible for developing ALVIN. We then illustrate the four generatio...

In this paper, we examine and evaluate artificial-potential field approaches for motion planning of robot collectives with formation-maintenance requirements. To this end, we demonstrate the practical use of construction of the Navigation Function (NF) to serve as the “standardized testing-ground.” The NF allows a designer to merge multiple local limited-range potential-functions uniformly into...

This paper proposes a robotic state estimation and map construction method. The traditional lidar SLAM methods are affected by sensor measurement noise, which causes the estimated trajectory to drift, especially along altitude direction caused noise. In this paper, ground parameters in environment extracted construct factors compress drifting using characteristics of constant robot pose relativ...