A5073649760- Robotic Path Planning Algorithms
- Modular Robots and Swarm Intelligence
- Innovations in Concrete and Construction Materials
- Control and Dynamics of Mobile Robots
- Manufacturing Process and Optimization
- Flexible and Reconfigurable Manufacturing Systems
- Advanced Manufacturing and Logistics Optimization
- Additive Manufacturing and 3D Printing Technologies
- Distributed Control Multi-Agent Systems
- Robot Manipulation and Learning
- BIM and Construction Integration
- Robotic Mechanisms and Dynamics
- 3D Surveying and Cultural Heritage
- Robotics and Sensor-Based Localization
- Advanced Measurement and Metrology Techniques
- Advanced machining processes and optimization
- Advanced Machining and Optimization Techniques
- Smart Parking Systems Research
- Computational Geometry and Mesh Generation
- Industrial Vision Systems and Defect Detection
- Vehicle License Plate Recognition
- Transportation and Mobility Innovations
- Robotic Locomotion and Control
- Scheduling and Optimization Algorithms
- Prosthetics and Rehabilitation Robotics
Leibniz University Hannover
2018-2025
Controlling the formation of several mobile robots allows for connection these to a large virtual unit. This enables group carry out tasks that single robot could not perform. For this purpose, use nonholonomic is especially useful, as they often have higher payload and are suitable wider range terrains. However, most research in area control focused on holonomic robots, since their superior mobility better more sophisticated techniques. The remaining articles explicitly dealing with do...
This paper presents a method for autonomous loading, transportation, and unloading of large objects using nonholonomic mobile manipulator. Here, the size transported object is considerably larger than platform, which made possible through use roller board. In this way, manipulator can handle that exceed manipulator’s payload. The robot load unload onto its platform differential kinematics system null space motion to maintain object’s position in space. order localise object, we apply...
In the construction industry, as well during assembly of large-scale components, required workspaces usually cannot be served by a stationary robot. Instead, mobile robots are used to increase accessible space. Here, problem arises that accuracy such systems is not sufficient meet tolerance requirements components produced. Furthermore, there an additional difficulty in trajectory planning process since exact dimensions pre-manufactured parts unknown. Hence, existing static methods exerted...
Abstract. In contrast to stationary systems, mobile robots have an arbitrarily expandable workspace. As a result, the spatial dimensioning of task be mastered plays only subordinate role and can scaled as desired. For construction industry in particular, which requires handling production substantial components, mean unlimited expansion workspace based on their mobility levels thus increased flexibility. The greatest challenge robotics lies with discrepancy between precision required for...
The high dynamics of globalized markets and their increase in competition, as well the demographic changes western countries causing an increasing shortage skilled personnel are resulting major challenges for production companies today. These relate particular to processes assembly forming last process step value chain due its share manual labor. Collaborative assembly, which is characterized by immediate interaction humans robots, utilizes strengths both partners seen opportunity achieve a...
This paper presents an approach for continuous path planning in rigid formations containing nonholonomic mobile robots using Beziér-splines. Unlike most existing approaches, the focus is on maintaining a formation, as required many scenarios such object transport, handling or assembly. In these scenarios, constant distance between individual must be kept to avoid damaging transported object. Also, limitations regarding velocity and acceleration of each robot have taken into account, every...
Inline image-based reinforcement detection for concrete additive manufacturing processes using a convolutional neural network Lukas Johann Lachmayer, Lars Dittrich, Robin Dörrie, Harald Kloft, Annika Raatz, Tobias Recker Pages 42-48 (2024 Proceedings of the 41st ISARC, Lille, France, ISBN 978-0-6458322-1-1, ISSN 2413-5844) Abstract: Within scope structural components, integration provides an inevitable opportunity to enhance load-bearing capacity elements. Besides rebar itself, ensuring...
In this paper, we propose a novel approach for execution and planning-time efficient path planning formation of robots moving in complex indoor environments. Our combines the Voronoi Diagram (VD) with spline-based to create smooth paths limited curvature. We also incorporate free spaces into VD reduce maximum curvature paths. Due high obstacle clearance enabled by VDs reduced curvature, can reach higher velocities, given permissible control error. simulation evaluation uses 200 randomly...
This paper presents an approach for smooth trajectory planning in semi-rigid nonholonomic mobile robot formations using Bezier-splines. Unlike most existing approaches, the focus is on maintaining a formation, as required many scenarios such object transport, handling or assembly. We use Relaxed A* planner to create optimal collision-free global path and then this splines. The smoothed serves target paths every formation. From these paths, we calculate trajectories each robot. In iterative...
This paper presents a hybrid position and force control approach for the cooperative transport of an object by arbitrary number mobile manipulators. In this approach, base is controlled position-based formation controller manipulator force-based controller. We use simple tracking to platforms. The end effector cartesian impedance while controlling orientation force-free. By splitting problem, we can eliminate feedback handling into thus simplify significantly. Also, limitations errors...