This paper deals with a motion planning problem for spherical rolling robot actuated by two internal rotors that are placed on orthogonal axes. The key feature of the is it can be stated only in dynamic formulation. In addition, features singularity when contact trajectory goes along equatorial line plane rotors. A strategy composed trivial and one nontrivial maneuver devised. maneuvers implement geodesic perpendicular to line. construction employs nilpotent approximation originally...

Robot simulators provide an easy way for evaluation of new concepts and algorithms in a simulated physical environment reducing development time cost. Therefore it is convenient to have tool that quickly creates 3D landscape from arbitrary 2D image or laser range finder data. This paper presents automatically constructs such landscapes Gazebo simulator. The converts grayscale into Collada format model, which could be directly imported Gazebo. We run three different simultaneous localization...

This paper presents a novel approach for precise UAV landing using visual sensory data. A new type of fiducial marker called embedded ArUco (e-ArUco) was developed specially task robust detection wide range distances. E-ArUco markers are based on original and require only algorithms. The applicability validated experiments in virtual environment. Both algorithm were implemented within the ROS framework tested Gazebo simulator. According to our experiments, an average accuracy 2.03 cm with...

In the face of humanitarian crises such as torrential rainfall, resulting floods, and landslides, rapid rescue operations are often imperative. However, owing to inherent dangers unpredictability circumstances, immediate on-site aid delivery is frequently unfeasible. challenging scenarios, mobile robot systems have emerged optimal solution for aiding search efforts. The 'Informational system management flood landslide disaster areas using a distributed heterogeneous robotic team' project,...

This paper explores an eclectic range of path-planning methodologies engineered for rolling surfaces. Our focus is on the kinematic intricacies contact systems, which are investigated through a motion planning lens. Beyond summarizing approaches to single-contact rotational surfaces, we explore challenging domain spin-rolling multi-contact systems. work proposes solutions higher-dimensional problem multiple rotating objects in contact. Venturing beyond kinematics, these find application...

Autonomous intersection management (AIM) is gaining increasing attention due to its crucial role in ensuring safety and efficiency. Various methods have been proposed the literature address AIM problem, including traffic light optimization, connected vehicle optimization based on vehicle-to-anything (V2X) communication technology, multi-agent autonomous systems. However, each of these approaches has own limitations, such as parking delays, latency, or lack guaranteed collision avoidance....

Multi-agent coverage control plays a crucial role in the modeling and coordination of complex systems, especially for teams robots that, through frequent interactions with each other their environment, can accomplish tasks distributed parallel manner. However, most existing studies on multi-agent systems are limited to two-dimensional environments, few addressing height factor critical three-dimensional spaces. This study proposes novel approach that adapts centroidal Voronoi tessellation...

Path planning for autonomous mobile robots is an important task within robotics field. It common to use one of the two classical approaches in path planning: a global approach when entire map working environment available robot or local methods, which require detect obstacles with variety onboard sensors as traverses environment.
 In our previous work, multi-criteria spline algorithm prototype construction was developed and tested Matlab environment. The used Voronoi graph computing...

Abstract In this paper, we reflect upon control intervention practices habitually exerted by healthcare authorities in tropical areas that suffer from incidental outbreaks of dengue fever, particular, the city Cali, Colombia. Such interventions, principally based on insecticide spraying, are carried out sporadically order to overcome an ongoing epidemic or at least reduce its size. It is worth pointing actions type do not usually account for sufficient budget because difficult predict....

This letter presents an adaptive coverage control strategy for multi-agent systems with obstacle avoidance in the presence of actuator faults and time-varying uncertainties. The is based on a leader-follower approach. Assuming that motion leader given, one distributes followers within leader's obstacle-free sensing range so collisions obstacles can be avoided. An optimized distribution achieved through Centroidal Voronoi Tessellation (CVT) function approximation technique immersion...

This paper discusses a new dynamic sensing system capable of detecting the contact point between flexible beam and an object. The proposed system, named antenna, is simply composed insensitive beam, torque sensor, joint position actuator, payload at tip end beam. can be detected through estimation oscillation frequencies in with First, model sensor derived. Next, it shown that information fundamental second natural sufficient for unique determining if has uniform mass stiffness distribution....

In controlling manipulators interacting with the external en vironment, an important role is played by force/torque sensors. recent years, a number of constructs for such sen sors have been proposed, and some criteria their evaluation introduced. This article presents systematic analy sis force sensors at design stage, which has not undertaken in literature. A generalized model developed on basis static kinematic equations, block form resulting strain compliance matrix sensor obtained. The...

The paper presents an analysis of human reaching movements in manipulation flexible objects. To predict the trajectory hand, a minimum crackle criterion has been recently introduced literature. A different approach is explored this paper. explain formation, we resort to hand jerk criterion. First, show that matches well experimental data available Next, argue that, contrary criterion, produces bounded velocity profiles for multimass Finally, present initial results confirming applicability...

The paper deals with the motion planning problem for a rolling sphere limited contact area. system under consideration is represented by hemispherical object that can roll without slipping or spinning on plane. Under constraints imposed size of area, construction be regarded as parallel parking in finite number movement steps. A strategy, realizing steps tracing generalized figure eights hemisphere, introduced. Two different algorithms this circle-based and Viviani-curve-based ones, are...

Crawler mobile robots have a large variety of applications, including urban search and rescue. Before new algorithms concepts could be integrated into real robot control system tested in field experiments, extensive virtual simulations should performed order to verify them carefully. This requires proper modelling environment, but specific construction crawler crawlers complicates the modelling. In this paper, provide high level physical interaction similarity with supporting surface we...

This paper deals with a class of parallel mechanisms, called Gough-Stewart platforms. For these pre-loaded by driving forces, the stiffness matrix is derived and its basic properties are established. It shown when becomes asymmetric, how parametric imbalance may influence system stability, center depends on force pre-loading. Next, some necessary sufficient conditions for stability established in an analytical form transforming to stiffness.