One of the major tasks of autonomous robot navigation elimination of robot errors. These errors are caused by imperfections in the design and mechanical implementation of robots. This paper presents experimental and statistical analysis of wheeled robots. The mobile robots consist of three differential drive robots that tested and moved in given trajectories and then the systematic errors of th...

We wish to organize movable objects with teams of mobile robots in dynamic, unstructured environments. We describe a distributed heterogeneous system of robots that cooperate to achieve this task. We describe on-line algorithms for pushing, reorienting, \grasping", and placing objects in dynamic, unstruc-tured environments with wheeled robots. We also describe on-line algorithms for \pulling" a...

Although the wheeled locomotion proved to be very efficient on smooth grounds, it still encounters great difficulties in natural environments, where the ground is subject to wide variations in term of geometry (irregular surface, presence of obstacles...) and material properties (cohesion, grip condition...). This chapter presents recent developments and original systems that improve the capaci...

Most dynamic systems show uncertainty in their behavior. Therefore, a deterministic model is not sufficient to predict the stochastic behavior of such systems. Alternatively, a stochastic model can be used for better analysis and simulation. By numerically integrating the stochastic differential equation or solving the Fokker-Planck equation, we can obtain a probability density function of the ...

This paper addresses the dynamic path planning for two mobile robots in unknownenvironment with obstacle avoidance and moving target tracking. These robots must form atriangle with moving target. The algorithm is composed of two parts. The first part of thealgorithm used for formation planning of the robots and a moving target. It generates thedesired position for the robots for the next step. ...

In this paper, the problem of the kinematics and dynamics of two constructional conceptions of a twowheeled mobile robot is considered. The wheeled mobile robot subjected to nonholonomic constraints moves over the inclined plane. Its trajectory consisting of the straight line and the curvilinear path described by the sinusoidal function is analyzed. The kinematic equations for arbitrarily chose...

In recent years, a significant development of technologies related to the control and communication mobile robots, including Unmanned Aerial Vehicles, has been noticeable. Developing these requires having necessary hardware software enable prototyping simulation algorithms in laboratory conditions. The article presents Laboratory Intelligent Mobile Robots equipped with latest solutions. equipme...

Recently, robots have been used in many applications including industry and human ordinary life. Robots can make the human life easier by doing the dangerous works such as working in a toxic environment or by doing the hard works such as carrying heavy objects. In addition, robots can add more precision and repeatability in many tasks such as welding and assembly tasks. Human assistant robot (H...

In this paper we propose a method that multiple mobile robots use tools to accomplish tasks. To give an actual example, the robots can push and manipulate objects by means of a stick and can pull objects by means of string. We classify tools in view of their characteristic and the robots make use of characteristics of tools to accomplish tasks easily and efficiently. We adopt sticks and strings...

This paper presents a time invariant kinematic motion controller for wheeled mobile robots. Actuator capability, mechanical design, and traction forces governed by terrain features provide velocity and curvature limitations that are used in the design of the controller. A novel path manifold that considers curvature limitations is introduced to provide a desired path shape and convergence to th...