Multi-Target Coordinated Search Algorithm for Swarm Robotics Considering Practical Constraints

Abstract

In order to deal with the multi-target search problems for swarm robots in unknown complex environments, a multi-target coordinated search algorithm for swarm robots considering practical constraints is proposed in this paper. Firstly, according to the target detection situation of swarm robots, an ideal search algorithm framework combining the strategy of roaming search and coordinated search is established. Secondly, based on the framework of the multi-target search algorithm, a simplified virtual force model is combined, which effectively overcomes the real-time obstacle avoidance problem in the target search of swarm robots. Finally, in order to solve the distributed communication problem in the multi-target search of swarm robots, a distributed neighborhood communication mechanism based on a time-varying characteristic swarm with a restricted random line of sight is proposed, and which is combined with the multi-target search framework. For the swarm robot kinematics, obstacle avoidance, and communication constraints of swarm robots, the proposed multi-target search strategy is more stable, efficient, and practical than the previous methods. The effectiveness of this proposed method is verified by numerical simulations.

A Review of Hand Gesture Recognition Systems Based on Noninvasive Wearable Sensors

“…Rehabilitation supports patients with neurological diseases and neural damage by performing goaldirected and nongoal-directed movements, which are more integral to the patient's daily life. [150] Most of the movements targeted to help with accomplishing ADLs include wrist flexion, wrist extension, hook-like grasp, opposition (hand pinch) and thumb adduction (lateral hand pinch), cylinder grip, and spherical grip. [151,152] Gesture recognition based on wearable sensor techniques can be used in the rehabilitation process to acquire physiological signals from the patient's body surface to allow an active interaction between the patient and the rehabilitation system, which is essential in the recovery process.…”

“…Rehabilitation supports patients with neurological diseases and neural damage by performing goal‐directed and nongoal‐directed movements, which are more integral to the patient's daily life. [ 150 ] Most of the movements targeted to help with accomplishing ADLs include wrist flexion, wrist extension, hook‐like grasp, opposition (hand pinch) and thumb adduction (lateral hand pinch), cylinder grip, and spherical grip. [ 151,152 ]…”

Consistent Epistemic Planning for Multiagent Deep Reinforcement Learning

“…Target search and tracking (S&T) is a sustained and focused research topic in recent years [1], [2], [5], [6], [8]- [11], which refers to detecting an object of interest in a search space [1] and tracking it. The related research can be divided into two components -1) to design a filter using a series of past observations to get correct estimates of the opponent location [3], [4], [6], [12] and 2) to improve policies for the S&T agents by leveraging the estimation from the filtering module [1], [2], [5], [8]- [10], [13] The classic Kalman-based filters have been widely used in this field. Interacting Mutiple Model (IMM) and Probability Hypothesis Density (PHD) filters are used to solve the multiple dynamic patterns and the unknown varying number of agents by Kalman model merging.…”

Self-Configurable Centipede-Inspired Rescue Robot

“…The evolution of multimodal sensing and communication technologies has significantly bolstered robots' environmental perception and processing abilities. Studies [25][26][27][28][29][30][31] have highlighted the integration of diverse sensing methods to enhance robots' environmental perception and decision-making capabilities, albeit stability and accuracy in complex environments still require improvement. Moreover, advancements in collective intelligence and collaboration technologies [32][33][34][35][36][37][38] empower robotic swarms to coordinate and execute tasks efficiently, though coordination and robustness in large-scale, dynamic environments remain challenging.…”