In this paper an on-line distributed algorithm, namely, Voronoi Partition-based Coverage (VPC), is proposed to solve the problem of complete coverage of a geographical region with known boundary and unknown obstacles using multiple robots. The region is decomposed into Voronoi cells based on the initial positions of robots. Each robot is responsible for covering its Voronoi cell. It is shown th...

Dynamical systems have been increasingly studied in the last decade for designing locomotion controllers. They offer several advantages over previous solutions like synchronization, smooth transitions under parameter variation, and robustness. In this paper, we present an adaptive locomotion controller for four-legged robots. The controller is composed of a set of coupled nonlinear dynamical sy...

This paper presents a cognitive model—the Sensory Motor System (SMS)—for an action execution process, as a new module of the LIDA systems-level cognitive model. Action execution refers to a situation in which a software agent or robot executes a selected goal-directed action in the real world so as to output pertinent movement. Action execution requires transforming a selected goal-directed act...

This paper examines the problem of distributed coverage of an initially unknown environment using a multi-robot system. Specifically, focus is on a coverage technique for coordinating teams of multiple mobile robots that are deployed and maintained in a certain formation while covering the environment. The technique is analyzed theoretically and experimentally to verify its operation and perfor...

Movements of robots in a swarm can be mapped to sounds, highlighting the group behavior through coordinated and simultaneous variations musical parameters across time. The vice versa is also possible: sound robotic motion parameters, giving instructions sound. In this article, we first develop theoretical framework relate such as pitch, timbre, loudness, articulation (for each time) with positi...

Cooperative control for multiple vehicles is a promising technology with the capability to improve traffic efficiency and fuel savings. Given its potential both commercial military applications, unmanned vehicle formation has attracted considerable attention recently. In this paper, use of connected autonomous was explored novel distributed approach proposed. To begin, evolution mechanism multi...

Abstract This research aims to develop an algorithm for the precision vertical landing process on a quadcopter using GPS sensors and computer vision. consists of 2 main parts: GPS-based control used by return home area vision-based in form ArUco marker detection, which is order land precisely. Detection that goes through stages: application threshold ratio calculating black white area, can then...

The rapid development of intelligent robotics would facilitate humans and robots will live and work together at a human workspace in the near future. It means research on effective human-robot interaction is essential for future robotics. The most common situation of humanrobot interaction is that humans and robots work cooperatively, and robots should give proper assistance to humans for achie...

This paper introduces CRAZYCHOIR,, a modular Python framework based on the Robot Operating System (ROS) 2. The toolbox provides comprehensive set of functionalities to simulate and run experiments teams cooperating Crazyflie nano-quadrotors. Specifically, it allows users perform realistic simulations over robotic simulators as, e.g., Webots includes bindings firmware control planning functions....

The difficult task of creating reliable mobility for humanoid robots has been studied decades. Even though several different walking strategies have put forth and performance substantially increased, stability still needs to catch up expectations. Applications Reinforcement Learning (RL) techniques are constrained by low convergence ineffective training. This paper develops a new robust efficie...