A Cooperative Multi-Robot Control Using Ad Hoc Wireless Network
In this paper, a Cooperative Multi-robot for Carrying
Targets (CMCT) algorithm is proposed. The multi-robot team
consists of three robots, one is a supervisor and the others are
workers for carrying boxes in a store of 100×100 m2. Each robot has
a self recharging mechanism. The CMCT minimizes robot-s worked
time for carrying many boxes during day by working in parallel. That
is, the supervisor detects the required variables in the same time
another robots work with previous variables. It works with
straightforward mechanical models by using simple cosine laws. It
detects the robot-s shortest path for reaching the target position
avoiding obstacles by using a proposed CMCT path planning
(CMCT-PP) algorithm. It prevents the collision between robots
during moving. The robots interact in an ad hoc wireless network.
Simulation results show that the proposed system that consists of
CMCT algorithm and its accomplished CMCT-PP algorithm
achieves a high improvement in time and distance while performing
the required tasks over the already existed algorithms.
[1] T. Zheng, R. Li, W. Guo, and L. Yang, "Multi-robot Cooperative Task
Processing in Great Environment," in Proc. of IEEE Conference on
Robotics, Automation and Mechatronics, pp. 1113-1117, September
2008.
[2] L. Parker, "Distributed algorithms for multi-robot observation of
multiple moving targets," Autonomous Robots Journal, vol.12, pp. 231-
255, 2002.
[3] Larp Euron, "Ad-hoc network communication infrastructure for multirobot
systems in disaster scenarios," in Proc. of Robotics for Risky
Intervention and Environmental Surveillance - Benicàssim, 2008.
[4] M. J. Johnson, K. Intlekofer, H. Jung, and J. M. Bradshaw, et. al, "
Coordinated operations in mixed teams of humans and robots,"
International Journal of Robotics Research 2, pp. 431-447, no. 5,6, 2006.
[5] J. Wang "Investigation of a mobile manipulator over wired/wireless
control System," in Proc of Skima-International conference on software
knowledge information management and applications, 2006.
[6] T. Chiueh, R. Krishnan, P. De, and J. Chiang, "A networked robot
system for wireless network emulation", in Proc. of the 4th International
Conference on Mobile Systems, Applications, and Services, Uppsala,
Sweden, pp. 124-137, 2006.
[7] A. Birk, and C. Condea "Mobile robot communication without the
drawbacks of wireless networking" Springer, vol. 4020, pp. 585 - 592,
2006.
[8] A. R. Wagner, and R.C. Arkin, "Internalized plans for communication
sensitive robot team behaviors", in Proc. of. IEEE Int. Conference on
Intelligent Robotics and Systems, pp 2480-2487, 2003.
[9] A. Botea, M. M├╝ller, and J. Schaeffer "Near optimal hierarchical pathfinding",
Journal of Game Development, vol. 1, issue 1, pp. 7-28, 2004.
[10] M. Fukunari, S. Rajanna, R. J. Gaskins, and M. E. Sparrow "Data-based
node penalties in a path-finding algorithm in an automated material
handling system," in Proc. of the 34th conference on Winter simulation,
California, pp1383-1386, 2002.
[11] A. I. Mourikis, and S. I. Roumeliotis, "Performance analysis of
Multirobot cooperative localization," IEEE Transactions on Robotics,
vol. 22, issue 4, pp. 666-681, 2006.
[12] S. Oh., A. Zelinsky, and K. Taylor, "Autonomous battery recharging for
indoor mobile robots," in Proc. of Australian Conference on Robotics
and Automation (ACRA 2000), pp. 1-6, 2000.
[13] J. L. Jones, and P. R. Mass "Method and system for multi mode coverage
for an autonomous robot," Citation of provisional application, Jones, US
Patent 7, Google Patents, 2007.
[14] K. kouzoubov, and D. Austin, "Autonomous recharging for mobile
robotics," in Proc. of Australasian Conference on robotics and
automation Auckland, pp. 27-29, 2002.
[15] J. Chen., and L. Ren, "Path planning protocol for collaborative multirobot
systems " in Proc. of IEEE International Symposium,
Computational Intelligence in Robotics and Automation, pp.721-726,
June 2005.
[16] B. Graf, J. Wandosell, and C. Schaeffer, "Flexible path planning for
nonholonomic mobile robots," in Proc. of the Fourth European
Workshop on Advanced Mobile Robots, 2001.
[17] S. Jantz, Keith, and L Doty, "Visual perception based behaviors for a
small autonomous mobile robot," in Proc. of Florida Conference on
Recent Advances in Robotics, Florida, 2000.
[18] http://www.isi.edu/nsnam/ns,10/2008.
[19] Y. Yong, and G. Kamal, "Puma 560 software client's report", Advanced
Robotics , vol. 14, issue 22, no. 6, pp. 515-536, 2000
[1] T. Zheng, R. Li, W. Guo, and L. Yang, "Multi-robot Cooperative Task
Processing in Great Environment," in Proc. of IEEE Conference on
Robotics, Automation and Mechatronics, pp. 1113-1117, September
2008.
[2] L. Parker, "Distributed algorithms for multi-robot observation of
multiple moving targets," Autonomous Robots Journal, vol.12, pp. 231-
255, 2002.
[3] Larp Euron, "Ad-hoc network communication infrastructure for multirobot
systems in disaster scenarios," in Proc. of Robotics for Risky
Intervention and Environmental Surveillance - Benicàssim, 2008.
[4] M. J. Johnson, K. Intlekofer, H. Jung, and J. M. Bradshaw, et. al, "
Coordinated operations in mixed teams of humans and robots,"
International Journal of Robotics Research 2, pp. 431-447, no. 5,6, 2006.
[5] J. Wang "Investigation of a mobile manipulator over wired/wireless
control System," in Proc of Skima-International conference on software
knowledge information management and applications, 2006.
[6] T. Chiueh, R. Krishnan, P. De, and J. Chiang, "A networked robot
system for wireless network emulation", in Proc. of the 4th International
Conference on Mobile Systems, Applications, and Services, Uppsala,
Sweden, pp. 124-137, 2006.
[7] A. Birk, and C. Condea "Mobile robot communication without the
drawbacks of wireless networking" Springer, vol. 4020, pp. 585 - 592,
2006.
[8] A. R. Wagner, and R.C. Arkin, "Internalized plans for communication
sensitive robot team behaviors", in Proc. of. IEEE Int. Conference on
Intelligent Robotics and Systems, pp 2480-2487, 2003.
[9] A. Botea, M. M├╝ller, and J. Schaeffer "Near optimal hierarchical pathfinding",
Journal of Game Development, vol. 1, issue 1, pp. 7-28, 2004.
[10] M. Fukunari, S. Rajanna, R. J. Gaskins, and M. E. Sparrow "Data-based
node penalties in a path-finding algorithm in an automated material
handling system," in Proc. of the 34th conference on Winter simulation,
California, pp1383-1386, 2002.
[11] A. I. Mourikis, and S. I. Roumeliotis, "Performance analysis of
Multirobot cooperative localization," IEEE Transactions on Robotics,
vol. 22, issue 4, pp. 666-681, 2006.
[12] S. Oh., A. Zelinsky, and K. Taylor, "Autonomous battery recharging for
indoor mobile robots," in Proc. of Australian Conference on Robotics
and Automation (ACRA 2000), pp. 1-6, 2000.
[13] J. L. Jones, and P. R. Mass "Method and system for multi mode coverage
for an autonomous robot," Citation of provisional application, Jones, US
Patent 7, Google Patents, 2007.
[14] K. kouzoubov, and D. Austin, "Autonomous recharging for mobile
robotics," in Proc. of Australasian Conference on robotics and
automation Auckland, pp. 27-29, 2002.
[15] J. Chen., and L. Ren, "Path planning protocol for collaborative multirobot
systems " in Proc. of IEEE International Symposium,
Computational Intelligence in Robotics and Automation, pp.721-726,
June 2005.
[16] B. Graf, J. Wandosell, and C. Schaeffer, "Flexible path planning for
nonholonomic mobile robots," in Proc. of the Fourth European
Workshop on Advanced Mobile Robots, 2001.
[17] S. Jantz, Keith, and L Doty, "Visual perception based behaviors for a
small autonomous mobile robot," in Proc. of Florida Conference on
Recent Advances in Robotics, Florida, 2000.
[18] http://www.isi.edu/nsnam/ns,10/2008.
[19] Y. Yong, and G. Kamal, "Puma 560 software client's report", Advanced
Robotics , vol. 14, issue 22, no. 6, pp. 515-536, 2000
@article{"International Journal of Electrical, Electronic and Communication Sciences:51846", author = "Amira Elsonbaty and Rawya Rizk and Mohamed Elksas and Mofreh Salem", title = "A Cooperative Multi-Robot Control Using Ad Hoc Wireless Network", abstract = "In this paper, a Cooperative Multi-robot for Carrying
Targets (CMCT) algorithm is proposed. The multi-robot team
consists of three robots, one is a supervisor and the others are
workers for carrying boxes in a store of 100×100 m2. Each robot has
a self recharging mechanism. The CMCT minimizes robot-s worked
time for carrying many boxes during day by working in parallel. That
is, the supervisor detects the required variables in the same time
another robots work with previous variables. It works with
straightforward mechanical models by using simple cosine laws. It
detects the robot-s shortest path for reaching the target position
avoiding obstacles by using a proposed CMCT path planning
(CMCT-PP) algorithm. It prevents the collision between robots
during moving. The robots interact in an ad hoc wireless network.
Simulation results show that the proposed system that consists of
CMCT algorithm and its accomplished CMCT-PP algorithm
achieves a high improvement in time and distance while performing
the required tasks over the already existed algorithms.", keywords = "Ad hoc network, Computer vision based positioning,Dynamic collision avoidance, Multi-robot, Path planning algorithms,Self recharging.", volume = "3", number = "6", pages = "1267-8", }
