The majority of navigation algorithms for mobile robots assume that the robots possess enough computational or memory resources to carry out the necessary calculations. Especially small and lightweight devices, however, are resource-constrained and have only restricted capabilities. In this paper, we present a reinforcement learning approach for mobile robots that considers the imposed constrai...

We tackle the problem of forming and deploying groups of robots in a dynamic task allocation scenario. In our approach, wheeled robots carry out tasks and flying robots coordinate the formation and subsequent deployment of groups of wheeled robots. Our recruitment system is based on simple probabilistic rules inspired by the aggregation behaviour of cockroaches under shelters. The system succes...

In this work, we consider a group of differential-wheeled robots endowed with noisy relative positioning capabilities. We develop a decentralized approach based on a receding horizon controller to generate, in real-time, trajectories that guarantee the convergence of our robots to a common location (i.e. rendezvous). Our receding horizon controller is tailored around two numerical optimization ...

We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their effectiveness is formally established. An extension ensuring maintenance of a safe inter-robot distance is also discussed. The proposed framework is fully decentraliz...

Typical formulations of the forward and inverse velocity kinematics of wheeled mobile robots assume flat terrain, consistent constraints, and no slip at the wheels. Such assumptions can sometimes permit the wheel constraints to be substituted into the differential equation to produce a compact, apparently unconstrained result. However, in the general case, the terrain is not flat, the wheel con...

We consider a heterogeneous swarm consisting of aerial and wheeled robots. We present a system that enables spatially targeted communication. Our system enables aerial robots to establish dedicated communication links with individual wheeled robots or with selected groups of wheeled robots based on their position in the environment. The system does not rely on any form of global information. We...

Mobile manipulators are extensively used in various applications. Most of the mobile built on a wheeled platform. A platform performs well flat terrains but is not suitable for navigation rough terrains. The legged robots commonly terrain However, speed lesser than robots. This paper focuses development hybrid wheellegged to overcome above difficulties. proposed model quadruped with five degree...

The control of planetary rovers, which are high performance mobile robots that move on deformable rough terrain, is a challenging problem. Taking lateral skid into account, this paper presents a rough terrain model and nonholonomic kinematics model for planetary rovers. An approach is proposed in which the reference path is generated according to the planned path by combining look-ahead distanc...