In recent years there is a growing interest in multi-robots systems, where a group of N robots are working collaboratively in order to execute a given task. This thesis addresses two open challenges in multi-robot systems. The first is the challenge of deciding on which robot, out of a group of robots, should travel to a goal location, to carry out a task there. The second is the challenge of i...

Planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. The problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. Open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

Design, modeling, manufacturing and experimental analysis of a six degree freedom robot, suitable for industrial applications, has been described in this paper. The robot was designed on the assumption that, each joint has an independent DC motor actuator, with gear reduction and measuring sensor for angular joint position. Mechanical design of the robot was done using Mechanical Desktop and ma...

A new framework of a hierarchical vision-motion planning for a mobile robot under uncertainty is proposed. An optimal plan is generated by twolevel planning: global route selection and local path planning. In global route selection, a sequence of observation points to acquire sufficient information to reach a destination is determined. Both the cost and the uncertainty of vision are considered ...

In recent years, soft computing methods, like fuzzy logic and neural networks have been  presented and developed for the purpose of mobile robot trajectory tracking. In this paper we will present a fuzzy approach to the problem of mobile robot path tracking for the CEDRA rescue robot with a complicated kinematical model. After designing the fuzzy tracking controller, the membership functions an...

The ability to perform different tasks by a serial manipulator mounted on legged robots, increases the capabilities of the robot. The position/force control problem of such a robot in the stance phase with point contacts on the ground is investigated here. A target plane with known stiffness is specified in the workspace. Active joints of the legs and serial manipulator are used to exert the de...

This paper focuses on the well-known problem in behavioral robotics – “what to do next”. The problem addressed here lies in the selection of one activity to be executed from multiple regulative, homeostatic and developmental processes running onboard a reconfigurable multi-robot organism. We consider adaptive hardware and software frameworks and argue the non-triviality of action selection for ...

The problem of defining robot behaviors to completely address a large and complex set of situations is very challenging. We present an approach for robot’s action selection in the robot soccer domain using Case-Based Reasoning techniques. A case represents a snapshot of the game at time t and the actions the robot should perform in that situation. We basically focus our work on the retrieval an...

This paper examines the problem of how a mobile robot may coordinate among multiple, possibly conflicting deliberative processes for reasoning about object interactions in a soccer domain. This paper frames deliberative coordination as an instance of the algorithm selection problem and describes a novel framework by which a mobile robot may learn to coordinate its deliberative reasoning in resp...