Multi-robot systems present unique challenges for the experimenter. There are three key components for conducting successful multi-robot experiments: 1) Defining platformindependent metrics for evaluating algorithm performance, 2) determining the ground truth of the robot’s physical configuration and network connectivity, and 3) designing a usable system, with centralized data collection and ha...

Amphibious snake-like robots are advantageous than traditional snake-like robots for their adaptability in aquatic environments. This paper presents a novel amphibious snake-like robot. The mechanism and control system of the robot are illustrated. A simplified Serpenoid Curve is used to generate the basic undulation of the robot. Three-dimensional gaits are generated by combining undulations o...

This paper compares the performance of classical position PD algorithm with a cascade controller involving position and force feedback loops, for multi-legged locomotion systems and variable ground characteristics. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. Moreover, we formulate several performance measures of the walking robot bas...

In this paper, we investigate the use of overhead high-resolution three-dimensional (3-D) data for enhancing the performances of an Unmanned Ground Vehicle (UGV) in vegetated terrains. Data were collected using an airborne laser and provided prior to the robot mission. Through extensive and exhaustive field testing, we demonstrate the significance of such data in two areas: robot localization a...

The autonomous locomotion of a legged robot presents several challenges, such as stability and sensitivity to the ground slope. Complex sensory systems, accurate physical models, and demanding computational resources are often required to maintain balance, that together with precise servo control leads to high energy consumption levels. This paper addresses the problem of controlling the locomo...

ground robot team is because both micro aerial vehicles (MAVs) and micro ground vehicles (MGVs) are limited in their ability to search and transport objects or complete complex missions. The payload of MAVs is relatively small and they have difficulty in transporting objects; the speed of MGVs is relatively slow for performing rescue missions. We overcome this limitation by using the cooperatio...

The feet/ground interaction is one of the major problem in the context of dynamic simulation for walking devices. We focus here about the phenomenon of contact. This paper describes a general model for dynamic simulation of contacts between a walking robot and ground. This model considers a force distribution and uses an analytical form for each force depending only on the known state of the ro...

while weeds in sugar beet farming reduce crop yield and quality, they also lead to higher labor and material losses. in recent years, in order to eliminate or reduce the damage caused by weeds in sugar beet farming, weed control has gained importance. to this end, various studies have been conducted on robotic weed control by detecting weeds using image processing algorithms and hoeing or spray...

This paper describes and evaluates one method of modeling compliance in a wheel-on-leg walking robot. This method assumes that all of the robot’s compliance takes place at the ground contact points, specifically the tires and legs, and that the rest of the robot is rigid. Optimization is used to solve for the displacement of the feet and of the center of gravity. This method was tested on both ...

In this work we address the problem of controlling a ground robot based on aerial image feedback in real time. We present an analysis of the relationship between a robot’s ground velocity and the velocity of it’s projection in the image. We also show how a subset of the parameters of the homography relating the ground plane and the image plane can be extracted from motion correspondences and su...