Multi-Robot-Multi-Target Path Planning and Position Estimation for Disaster area

Heo, Shin nyeong; Lu, Sheng yu; Shin, Jisun; Lee, Hee-Hyol

doi:10.1109/ict-robot.2018.8549910

Cited by 7 publications

(4 citation statements)

References 2 publications

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“…Pada beberapa aplikasi tertentu, robot tidak hanya bekerja secara mandiri, tetapi membutuhkan multi-robot yang dapat bekerja sama secara simultan. Referensi [1]- [4] menggunakan kerjasama multi-robot untuk menyelesaikan sebuah misi. Dengan menggunakan multi-robot, pekerjaan dapat lebih cepat dan mudah dilakukan jika dibandingkan dengan robot bekerja secara mandiri.…”

Section: Pendahuluanunclassified

Perancangan Kendali Formasi pada Multi-Robot Roda Omni dengan Kemampuan Menghindari Tabrakan

Wahab

2021

JNTETI

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Pada makalah ini dirancang sebuah kendali formasi terdistribusi menggunakan multi-robot roda omni (Omni Directional Wheel Mobile Robot, OMR) dengan kemampuan menghindari tabrakan antar OMR saat membentuk sebuah formasi. Kendali formasi menggunakan algoritme konsensus yang terdiri atas empat buah layer, yaitu layer tracking, layer konsensus, layer behavior, serta layer fisik robot. Layer tracking digunakan untuk mengarahkan posisi OMR pada virtual center yang telah ditentukan. Pada layer konsensus dirancang pengendali pada tingkat robot. Pengendali ini merupakan penjabaran dari algoritme konsensus. Layer behavior digunakan untuk menambah metode penghindar tabrakan antar OMR saat membentuk formasi. Penghindar rintangan menggunakan metode Stipanovic. Pada layer fisik robot, digunakan OMR dengan konfigurasi tiga buah roda omni. OMR yang digunakan berjumlah empat buah. Pengendali yang telah dirancang disimulasikan dengan menggunakan peranti lunak MATLAB. Hasil simulasi menunjukkan bahwa pengendali yang diterapkan pada OMR telah berhasil membentuk formasi yang diinginkan, yaitu persegi dan belah ketupat, serta dalam perjalanan membentuk formasi tersebut, setiap OMR dapat menjaga jarak sehingga tidak terjadi tabrakan dengan berbagai topologi komunikasi dan bentuk formasi.

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Section: Pendahuluanunclassified

Perancangan Kendali Formasi pada Multi-Robot Roda Omni dengan Kemampuan Menghindari Tabrakan

Wahab

2021

JNTETI

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“…Multi-Robot Multi-Target Tracking (MR-MTT) is a fundamental assignment in robotics, which can be depicted as a team of interconnected robots being hired to search an area of interest to detect and track multiple targets that spread over the area. MR-MTT system has a wide range of applications and plays an essential role in disaster site rescue [1], real-time monitoring [2], mapping [3] and other fields. In these years, due to the improvement of the task complexity of robots, the MR-MTT coordination system has received increasing attention because of its excellent detecting and tracking performance, along with others in a variety of real-world scenarios.…”

Section: Introductionmentioning

confidence: 99%

“…All kinds of indexes, such as the coverage rate of targets, the required time of the algorithm, and computing power demand, among others, can evaluate the performance of diverse methods. This paper's contributions are: (1) As for the multi-robot multi-target tracking problem, we introduce two primary approaches: (a) A novel local algorithm method proposed by Yoonchang et al [7]. (b) An innovative control algorithm combined with PHD filter designed by Dames [11].…”

Section: Introductionmentioning

confidence: 99%

Towards distributed multi-target tracking using teams of mobile robots

Zhang

2023

3rd International Conference on Artificial Intelligence, Automation, and High-Performance Computing (AIAHPC 2023)

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Multi-Robot Multi-Target Tracking (MR-MTT) addresses the problem that a swarm of mobile robots actively detect and move to maintain surveillance of a team of dynamic targets, which is a fundamental problem in the modern robot system and has enormous potential in numerous fields. This paper investigates a series of MR-MTT algorithms, with detailed demonstrations of two distributed approaches to solving MR-MTT in finite iterations. On the one hand, a novel local algorithm is introduced to solve multi-robot multi-target assignments within limited communication rounds. On the other hand, an innovative coverage control algorithm combined with a probability hypothesis density (PHD) filter for target estimation is derived to settle detection and tracking tasks simultaneously. Both algorithms are analysed and discussed mathematically, with simulation experiments demonstrating their efficacy and performance. It is concluded that both algorithms solve the MR-MTT problem in terms of optimal coverage and optimal target estimation, respectively.

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“…Multiple robot systems can consist of heterogeneous robot sets with different abilities or swarm robot sets with similar features (Bayindir & Şahin, 2007). It is noteworthy that the studies on the coordinated path tracking of the swarm robots are limited (Heo et al, 2018).…”

Section: Introductionmentioning

confidence: 99%

Waypoint-Based Path Tracking Approach For Self-Organized Swarm Robots

Mısır

ÇELİK

Gökrem

2022

IJERAD

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In this paper, a waypoint-based path tracking approach is suggested for the swarm robots to follow the desired path in an organized way. In the study, the applicability of the waypoint-based path tracking on the swarm robots that show flexible and scalable behavior has been demonstrated. To evaluate the proposed path planing approach with regard to scalability and flexibility, simulations have been applied in with/without obstacle arenas with different numbers of robots and according to different lookahead distances. With the proposed approach, each swarm robots exhibit swarm behavior in an organized manner depending on the distance of the lookahead to the path to track in the with / without obstacle arenas.

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Multi-Robot-Multi-Target Path Planning and Position Estimation for Disaster area

Cited by 7 publications

References 2 publications

Perancangan Kendali Formasi pada Multi-Robot Roda Omni dengan Kemampuan Menghindari Tabrakan

Perancangan Kendali Formasi pada Multi-Robot Roda Omni dengan Kemampuan Menghindari Tabrakan

Towards distributed multi-target tracking using teams of mobile robots

Waypoint-Based Path Tracking Approach For Self-Organized Swarm Robots

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