Autonomous exploration is an important application of multi-vehicle systems, where a team networked robots are coordinated to explore unknown environment collaboratively. This technique has earned significant research interest due its usefulness in search and rescue, fault detection monitoring, localization mapping, etc. In this paper, novel cooperative strategy proposed for multiple mobile robots, which reduces the overall task completion time energy costs compared conventional methods. To...

Automatic cruise control of a platoon multiple connected vehicles in an automated highway system has drawn significant attention the practitioners over past two decades due to its ability reduce traffic congestion problems, improve throughput and enhance safety traffic. This paper proposes two-layer distributed scheme maintain string stability heterogeneous vehicle moving one dimension with constant spacing policy assuming velocity lead vehicle. A feedback linearization tool is applied first...

Coordination of unmanned aerial vehicle (UAV) swarms has received significant attention due to its wide practical applications including search and rescue, cooperative exploration target surveillance. Motivated by the flexibility UAVs recent advancement graph-based control strategies, this paper aims develop a fault-tolerant cooperation framework for networked with forest fire monitoring. Firstly, navigation strategy based on network graph theory is proposed coordinate all connected in swarm...

This article is concerned with the problem of planning optimal maneuver trajectories and guiding mobile robot toward target positions in uncertain environments for exploration purposes. A hierarchical deep learning-based control framework proposed which consists an upper level motion layer a lower waypoint tracking layer. In phase, recurrent neural network (RDNN)-based algorithm adopted to predict profiles robot. approach built upon recently idea using networks (DNNs) approximate...

Autonomous driving of multi-lane vehicle platoons have attracted significant attention in recent years due to their potential enhance the traffic-carrying capacity roads and produce better safety for drivers passengers. This paper proposes a distributed motion planning algorithm ensure safe overtaking autonomous vehicles dynamic environment using Artificial Potential Field method. Unlike conventional techniques, strategies can be used implement via formation control unmanned complex platoon...

Mobile robots are playing a significant role in Higher Education science and engineering teaching, as they offer flexible platform to explore teach wide-range of topics such mechanics, electronics software. Unfortunately the widespread adoption is limited by their high cost complexity user interfaces programming tools. To overcome these issues, new affordable, adaptable easy-to-use robotic proposed. Mona low-cost, open-source open-hardware mobile robot, which has been developed be compatible...

Cooperative control of multirobot systems (MRSs) has earned significant research interest over the past two decades due to its potential applications in multidisciplinary engineering problems. In contrast a single specialized robot, MRS can be designed offer flexibility, reconfigurability, robustness faults, and cost-effectiveness solving complex challenging tasks. this article, we aim develop unified cluster formation containment coordination framework for networked robots that decomposed...

Threats to global food security from multiple sources, such as population growth, ageing farming populations, meat consumption trends, climate-change effects on abiotic and biotic stresses, the environmental impacts of agriculture are well publicised. In addition, with ever increasing tolerance pest, diseases weeds there is growing pressure traditional crop genetic protective chemistry technologies 'Green Revolution'. To ease burden these challenges, has been a move automate robotise aspects...

This paper proposes a consensus-based formation tracking scheme for multi-robot systems utilizing the Negative Imaginary (NI) theory. The proposed applies to class of networked robotic that can be modelled as group single integrator agents with stable uncertainties connected via an undirected graph. NI/SNI property facilitates design distributed Strictly (SNI) controller achieve desired tracking. A new theoretical proof asymptotic convergence trajectories is derived based on integral...

Autonomous vehicles have been highlighted as a major growth area for future transportation systems and the deployment of large numbers these is expected when safety legal challenges are overcome. To meet necessary standards, effective collision avoidance technologies required to ensure that number accidents kept minimum. As autonomous vehicles, operating together on roads, can be regarded swarm system, we propose bio-inspired strategy using virtual pheromones; an approach has evolved...

This paper addresses a bearing-only formation tracking problem in robotic networks by considering exogenous disturbances and actuator faults. In contrast to traditional position-based coordination strategies, the coordinated movements of unmanned vehicles only rely on neighboring bearing information. feature can be utilized reduce sensing requirements hardware implementation. A gradient-descent protocol is first developed achieve desired within prespecified settling time, where unknown are...

The recent advancement of Deep Reinforcement Learning (DRL) contributed to robotics by allowing automatic controller design. design is a crucial approach for designing swarm robotic systems, which require more complex controllers than single robot system lead desired collective behaviour. Although the DRL-based method showed its effectiveness reliance on central training server critical problem in real-world environments where robot-server communication unstable or limited. We propose novel...

Robotic swarms that take inspiration from nature are becoming a fascinating topic for multi-robot researchers. The aim is to control large number of simple robots in order solve common complex tasks. Due the hardware complexities and cost robot platforms, current research swarm robotics mostly performed by simulation software. numbers these robotic applications extremely often inaccurate due poor modelling external conditions. In this paper, we present design low-cost, open-platform,...

Aggregation in swarm robotics is referred to as the gathering of spatially distributed robots into a single aggregate. can be classified cue-based or self-organized. In aggregation, there cue environment that points aggregation area, whereas self-organized no present. this paper, we proposed novel fuzzy-based method for based on state-of-the-art BEECLUST algorithm. particular, three different methods: naïve, uses deterministic decision-making mechanism; vector-averaging, using vectorial...

In this paper, we present a new bio-inspired vision system embedded for micro-robots. The takes inspiration from locusts in detecting fast approaching objects. Neurophysiological research suggested that use wide-field visual neuron called lobula giant movement detector (LGMD) to respond imminent collisions. the implementation of selected model by low-cost ARM processor as part composite module. As first LGMD module fits micro-robot, developed performs all image acquisition and processing...

This brief proposes a bearing-only collision-free formation coordination strategy for networked heterogeneous robots, where each robot only measures the relative bearings of its neighbors to achieve cooperation. Different from many existing studies that can guarantee global asymptotic stability (i.e., be formed over an infinite settling period), gradient-descent control protocol is designed make robots target within given finite time. The multi-robot system guaranteed via Lyapunov theory,...

The robotic shepherding problem has earned significant research interest over the last few decades due to its potential application in precision agriculture. In this article, we first modeled sheep flocking behavior using adaptive protocols and artificial field methods. Then, designed a coordination algorithm for dogs. An occlusion-based motion control strategy was proposed herd desired location. Compared formation-based techniques, provides more flexibility efficiency when herding large...

Honey bees live in colonies of thousands individuals, that not only need to collaborate with each other but also interact intensively their ecosystem. A small group robots operating a honey bee colony and interacting the queen bee, central element, has potential change collective behavior entire thus improve its interaction surrounding Such system can be used study understand many elements within hives have been adequately researched. We discuss here applicability this technology for...

This study examines the application of low-cost 1D LiDAR sensors in drone-based stockpile volume estimation, with a focus on indoor environments. Three approaches were experimentally investigated: (i) multi-drone system equipped static, downward-facing combined an adaptive formation control algorithm; (ii) single drone following zigzag trajectory; and (iii) actuated oscillatory fashion to enhance scanning coverage while shorter trajectory. The algorithm, newly developed this study,...

Biological swarm is a fascinating behavior of nature that has been successfully applied to solve human problem especially for robotics application.The high economical cost and large area required execute scenarios does not permit experimentation with real robot.Model simulation the mass number these robots are extremely complex often inaccurate.This paper describes design decision presents development an autonomous miniature mobile-robot (AMiR) research education.The robot in systems allows...

Aggregation is one of the most fundamental behaviors and has been studied in swarm robotic researches for more than two decades. Studies biology have revealed that environment a preeminent factor, especially cue-based aggregation. This can be defined as aggregation at particular location which heat or light source acting cue indicating an optimal zone. In robotics, studies on mainly focused different methods parameters such population size. Although utmost importance, environmental effects...

Pheromone-based communication is one of the most effective ways widely observed in nature. It particularly used by social insects such as bees, ants and termites; both for inter-agent agent-swarm communications. Due to its effectiveness; artificial pheromones have been adopted multi-robot swarm robotic systems more than a decade. Although, pheromone-based was implemented different means like chemical (use particular compounds) or physical (RFID tags, light, sound) ways, none them were able...