a general robotic mechanism was presented for in-pipe inspection oflevel pipes with varied diameter or curved pipelines. the robot employed three legs comprised of parallelogram linkages mechanism which enables adapting to various elbow joints in the piping systems. the curvatures in pipeline are the most important constraints in front of the robot through navigation process. to study the adapt...

This paper studies the problem of having mobile robots in a multi-robot system maintain an estimate of the relative position and relative orientation of near-by robots in the environment. This problem is studied in the context of large swarms of simple robots which are capable of measuring only the distance to near-by robots. We present two distributed localization algorithms with different tra...

This chapter is dedicated to the so-called cuspidal robots, i.e. those robots that can move from one inverse geometric solution to another without meeting a singular confuguration. This feature was discovered quite recently and has then been fascinating a lot of researchers. After a brief history of cuspidal robots, the chapter provides the main features of cuspidal robots: explanation of the n...

Robot technology has been cultivated by developing robots that work in special environments, such as industrial robots, robots for performing maintenance in nuclear power plants, and robots for use in space. On the other hand, the application fields of robots are expanding to include aspects of daily life, for example medical robots in hospitals, welfare robots in homes for the elderly, robots ...

This paper aims at studying complex behaviors of search and rescue robots in emergency situations. We used as environment of the simulation NetProLogo in order to: i) build a simulated scenario with robots, humans beings, and emergency exits, ii) endow robots with reasoning rules, and iii) evaluate robots behavior on the basis of two search strategies. Preliminary results show that one search s...

principles but, say, by imitation. This distinction helps distinguish two sets of questions that arise when considering the behavior of non-human agents, such as robots. One set of