based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. in this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. the state space representatio...

because of high speed, efficiency, robustness and flexibility of multi-agent systems, in recent years there has been an increasing interest in the art of these systems. in competitive multi agent systems, a mechanism is required via which the agents can come to reach an agreement.  contract net protocols are one of the well-known negotiation protocols in multi-agent systems. in contract net pro...

INTRODUCTION Exciting applications are emerging that involve large, heterogeneous human-robot teams acting in complex environments. Examples include search and rescue [5], disaster response [12], and military applications [4]. Robots are capable of augmentation and force multiplication of human assets, providing superhuman perception, coverage, and mobility, without risking human life.

Three dimensional (3D) vision systems are more and more used in recent industrial robot applications for enhancing robot flexibility and intelligence. This paper presents a method of integrating 3D binocular stereo vision systems into industrial robot systems. Examples are used to illustrate the developed method and its implementation including vision system setup and calibration, robot hand-ey...

in this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. to this end, the dynamics model of the considered wheeled mobile robot is derived using lagrange equations of motion. then, using adams multi-body simulation software, the obtained dynamics of the wheeled system in matlab software is verified. after that, ...

Robotic systems are desirable in many applications, particularly when the aim is to reduce human presence, for example in dangerous scenarios such as search and rescue missions. Such domains are typically dynamic and highly unpredictable, actions of robots are nondeterministic and limited bandwidth and communication failures further add to the hostility of the environment. Accurate predictions ...

During the 21st century rapid progress in computer communication and technologies influences robot systems: becoming larger and more complicated than ever previously. To manage the rapidly growing sensor data the single robot systems transformed to networked systems, facing new challenges. The demand of low-cost mass production of robots (industrial or service type), the rising number of elderl...

As a robot formation increases in size or explores places where it is difficult for a human operator to interact, autonomous control becomes critical. We propose a distributed autonomous method for evaluating properties of multi-robot systems, and then discuss how this information can be applied to improve performance with respect to a given operation. We present this as an extension of our pre...

in this study, a novel variable impedance control for a lower-limb rehabilitation robotic system using voltage control strategy is presented. the majority of existing control approaches are based on control torque strategy, which require the knowledge of robot dynamics as well as dynamic of patients. this requires the controller to overcome complex problems such as uncertainties and nonlinearit...

Foraging is a benchmark problem in robotics especially for distributed autonomous robotic systems. The systematic study of robot foraging is important for several reasons: firstly, because foraging is a metaphor for the broad class of problems integrating robotic exploration, navigation and object identification, manipulation and transport; secondly, in multi-robot systems foraging is a canonic...