In this paper, the problem concerning how to coordinate concurrent behaviors, when controlling autonomous mobile robots (AMRs), is investigated. We adopt a FSM (finite state machine)-based behavior selection method to solve this problem. It is shown how a hybrid system for an AMR can be modeled as an automaton, where each node corresponds to a distinct robot state. Through transitions between s...

Humanoid robots become increasingly sophisticated, both in terms of their movement as well as their sensorial capabilities. This allows to target for more complicated problems, eventually leading to robotic systems that can perform useful tasks in every days environment. In this paper, we will give an overview on some elements we consider to be important for a movement control and planning arch...

In this article, a fast and reliable map-merging algorithm is proposed to produce a global two dimensional map of an indoor environment in a multi-robot simultaneous localization and mapping (SLAM) process. In SLAM process, to find its way in this environment, a robot should be able to determine its position relative to a map formed from its observations. To solve this complex problem, simultan...

In many multi-robot applications such as target search, environmental monitoring and reconnaissance, the multi-robot system operates semi-autonomously, but under the supervision of a remote human who monitors task progress. In these applications, each robot collects a large amount of task-specific data that must be sent to the human periodically to keep the human aware of task progress. It is o...

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, ...

This paper proposes a new selection mechanism in evolutionary algorithm for fuzzy systems that can be applied to robot learning of shooting ability in robot soccer. In generic evolutionary algorithms, evaluation and selection are performed on the chromosome level, where a selected chromosome may include non-effective or bad genes. This may lead to an increase in the uncertainty of the solutions...

A common decision problem in multi-robot applications involves deciding on which robot, out of a group of N robots, should travel to a goal location, to carry out a task there. Trivially, this decision problem can be solved greedily, by selecting the robot with the shortest expected travel time. However, this ignores the inherent uncertainty in path traversal times; we may prefer a robot that i...

obviously navigation is one of the most complicated issues in mobile robots.intelligent algorithms are often used for error handling in robot navigation. thispaper deals with the problem of inertial measurement unit (imu) error handling byusing extended kalman filter (ekf) as an expert algorithms. our focus is put onthe field of mobile robot navigation in the 2d environments. the main challenge...

A large application domain for multi-robot teams involves task-oriented missions, in which potentially heterogeneous robots must solve several distinct tasks. Previous research addressing this problem in multi-robot systems has largely focused on issues of ee-ciency, while ignoring the real-world situated robot needs of fault tolerance and adaptivity. This paper addresses this problem by develo...