| 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 eeciency, while ignoring the real-world situated robot needs of fault tolerance and adaptivity. This paper addresses this problem by devel...

In the past couple of decades, multi-agent researchers and roboticists have focused on designing systems containing multiple, autonomous agents that work together to accomplish a common objective. In natural systems, we have seen how groups of animals can solve problems that could not be solved by solitary individuals [1, 27]. Because of the emergent behaviors within multi-agent systems, the wh...

In this paper is investigated the problem of managing limited resources in human-robot interaction with a computational architecture of emotion. The architecture is based on the appraisal theory of affect and an ethological motivational model of task selection. Key variables and performance criteria for robotic energy autonomous behaviour in interaction with humans are discussed. The role of ar...

quadruped robots have unique capabilities for motion over uneven natural environments. this article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. first, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-dof quadruped robot. thereafter, an inverse-dynamics...

In this paper, recurrent neural network is used for path planning in the joint space of the robot with obstacle in the workspace of the robot. To design the neural network, first a performance index has been defined as sum of square of error tracking of final executor. Then, obstacle avoidance scheme is presented based on its space coordinate and its minimum distance between the obstacle and ea...

Systems with multiple parallel goals (e.g. autonomous mobile robots) have a problem analogous to that of action selection in ethology. Archi-tectures such as the subsumption architecture (Brooks) involve multiple sensing-and-acting agents within a single robot, more than one of which is capable of controlling the robot on its own if allowed. Which to give control to at a given moment is normall...

in this paper, according to high load capacity and rather large workspace characteristics of cable driven robots (cdrs), maximum dynamic load carrying capacity (dlcc) between two given end points in the workspace along with optimal trajectory is obtained. in order to find dlcc of cdrs, joint actuator torque and workspace of the robot constraints concerning to non-negative tension in cables are ...

Self-sustenance in an unknown environment for an autonomous mobile robot with restricted sensory faculties is a challenging problem, primarily due to lack of effectiveness of existing techniques (deterministic or learning-based) in real world. Through this thesis, we try to investigate the utility of some of the existing reinforcement learning based techniques in achieving energy self-sufficien...

Obviously navigation is one of the most complicated issues in mobile robots. Intelligent algorithms are often used for error handling in robot navigation. This Paper deals with the problem of Inertial Measurement Unit (IMU) error handling by using Extended Kalman Filter (EKF) as an Expert Algorithms. Our focus is put on the field of mobile robot navigation in the 2D environments. The main chall...