Mona: an Affordable Open-Source Mobile Robot for Education and Research

Arvin, Farshad; Espinosa, J. Alberto; Bird, Benjamin; West, Andrew; Watson, Simon; Lennox, Barry

doi:10.1007/s10846-018-0866-9

Cited by 103 publications

(73 citation statements)

References 45 publications

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“…To model Mona robot [2] in Webots, we assembled different parts including upper and lower boards, motors, and wheels which is shown in Fig. 3-b.…”

Section: Methodsmentioning

confidence: 99%

“…The term f i n ⊥ i of Eq. (2) indicates that the angle between force and heading vectors (γ i ) defines the rotation speed of the agent (Fig. 1).…”

Section: Active Elastic Sheet Model and Numerical Dynamicsmentioning

confidence: 99%

“…Modeling agents with 2 degrees of freedom provides many advantages to robotic applications in which the robots are not able to move omni-directionally, e.g. Mona [2] robot.…”

Section: Active Elastic Sheet Model and Numerical Dynamicsmentioning

confidence: 99%

“…To illustrate the improved performance of the model, various simulations with different assumptions are performed. In addition, some simulations are conducted in Webots [14] using the model of Mona robot [2]. Finally, We implement the AES model on a swarm of simulated real Mona robots for the first time.…”

Section: Introductionmentioning

confidence: 99%

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Self-organized Collective Motion with a Simulated Real Robot Swarm

Raoufi

Turgut

Arvin

2019

Towards Autonomous Robotic Systems

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Collective motion is one of the most fascinating phenomena observed in the nature. In the last decade, it aroused so much attention in physics, control and robotics fields. In particular, many studies have been done in swarm robotics related to collective motion, also called flocking. In most of these studies, robots use orientation and proximity of their neighbors to achieve collective motion. In such an approach, one of the biggest problems is to measure orientation information using on-board sensors. In most of the studies, this information is either simulated or implemented using communication. In this paper, to the best of our knowledge, we implemented a fully autonomous coordinated motion without alignment using very simple Mona robots. We used an approach based on Active Elastic Sheet (AES) method. We modified the method and added the capability to enable the swarm to move toward a desired direction and rotate about an arbitrary point. The parameters of the modified method are optimized using TCACS optimization algorithm. We tested our approach in different settings using Matlab and Webots.

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“…To model Mona robot [2] in Webots, we assembled different parts including upper and lower boards, motors, and wheels which is shown in Fig. 3-b.…”

Section: Methodsmentioning

confidence: 99%

“…The term f i n ⊥ i of Eq. (2) indicates that the angle between force and heading vectors (γ i ) defines the rotation speed of the agent (Fig. 1).…”

Section: Active Elastic Sheet Model and Numerical Dynamicsmentioning

confidence: 99%

“…Modeling agents with 2 degrees of freedom provides many advantages to robotic applications in which the robots are not able to move omni-directionally, e.g. Mona [2] robot.…”

Section: Active Elastic Sheet Model and Numerical Dynamicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Self-organized Collective Motion with a Simulated Real Robot Swarm

Raoufi

Turgut

Arvin

2019

Towards Autonomous Robotic Systems

Self Cite

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“…̇= (29) With this change of variable, we can rewrite the original system of ordinary differential equations directly into the following matrix format:…”

Section: State Space Representation Of the Mas Using Apf Algorithmmentioning

confidence: 99%

Cooperative Control of Multi‐Agent Systems

Wang¹,

García²,

Casbeer³

et al. 2017

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Simulation for senior undergraduate education of robot engineering based on Webots

Yue

Miao

Zhang

et al. 2020

Comp Applic In Engineering

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In this paper, a comprehensive simulation framework is presented for senior undergraduates of robot engineering based on open‐source simulation software, Webots. In our curriculum, a virtual quadruped robot is used to test different theories. First, students should design the physical structure of the robot and select proper drivers according to the requirements on its motion ability. Then, the kinematics and workspace of each leg should be analyzed. To overcome different terrains, terrain recognition, and motion planning methods are presented. Finally, the processes of building a virtual robot and its test environment are introduced. Simulation results demonstrate that it is possible to test different robot techniques in our proposed simulation framework. Teaching practice and feedback from students show their promotion of understanding of robot theories. Their interest in robots are also increased.

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Mona: an Affordable Open-Source Mobile Robot for Education and Research

Cited by 103 publications

References 45 publications

Self-organized Collective Motion with a Simulated Real Robot Swarm

Self-organized Collective Motion with a Simulated Real Robot Swarm

Cooperative Control of Multi‐Agent Systems

Simulation for senior undergraduate education of robot engineering based on Webots

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