Most research on off-road mobile robot sensing focuses on obstacle negotiation, path planning, and position estimation. These issues have conventionally been the foremost factors limiting the performance and speeds of mobile robots. Very little attention has been paid to date to the issue of terrain trafficability, that is, the terrain’s ability to support vehicular traffic. Yet, trafficability...

This paper describes a novel action selection method for multiple mobile robots box-pushing in a dynamic environment. The robots are designed to need no explicit communication, and be adaptive to a dynamic environments by changing modules of behaviors. Though it is a significant problem to deal with adaptive action selection for multiple mobile-robots in a dynamic environment, few studies have ...

This paper deals with motion planning of multiple mobile robots. Mobile robots working together to achieve several objectives have many advantages over single robot system. However, the planning and coordination between the mobile robots is extremely difficult. In the present investigation rule-based and rulebased-neuro-fuzzy techniques are analyzed for multiple mobile robots navigation in an u...

Distributed computing extends its scope to address problems relevant to mobile computing where hosts are physically mobile. Since a robot can be seen as a mobile computer, it is natural to consider a group of autonomous mobile robots as a kind of mobile distributed system. However, there are two fundamental differences with conventional distributed systems. The first is that robots usually requ...

This paper addresses the safe navigation of multiple nonholonomic mobile robots in shared areas. Obstacle avoidance for mobile robots is performed by artificial potential fields and special traffic rules. In addition, the behavior of mobile robots is optimized by particle swarm optimization (PSO). The control of non-holonomic vehicles is performed using the virtual leader principle together wit...

This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative review of these approaches and use the approach based on simple local coordination rules. We investigate this extensively used nearest neighbour rule based appro...

Due to various advantages of Wheeled Mobile Robots (WMRs), many researchers have focused to solve their challenges. The automatic motion control of such robots is an attractive problem and is one of the issues which should carefully be examined. In the current paper, the trajectory tracking problem of WMRs which are actuated by two independent electrical motors is deliberated. To this end, and ...

This paper proposes a novel trajectory tracking control approach for nonholonomic wheeled mobile robots. In this approach, the integration of feed-forward and feedback controls is presented to design the kinematic controller of wheeled mobile robots, where the control law is constructed on the basis of Lyapunov stability theory, for generating the precisely desired velocity as the input of the ...

This paper introduces mobile camera robots with camera rotation capabilities. The motivation behind mobile camera robots is that as they rotate their camera their real sensing range moves from a FoV coverage to a disk coverage, therefore allowing neighboring nodes to decrease their activity level, thus their energy consumption. As a sensing node’s activity is based on a criticality or risk appr...

It is generally very difficult to make effective obstacle avoidance for mobile robots, especially in uncertain environments. This article models the obstacle avoidance problem as a nonlinear sliding mode, using the self-learning method of non-linear system. First, a sliding mode algorithm is proposed for state dependent layers of the mobile robots, in which two kinds of boundary layers are incl...