A predefined-time adaptive fuzzy cooperative controller with event triggering is proposed for multi-robot systems that takes into account external disturbances, input saturation, and model uncertainties in this paper. First, based on the asymmetric t...
In this paper, we present the mathematical point of view of our research group regarding the multi-robot systems evolving in a multi-temporal way. We solve the minimum multi-time volume problem as optimal control problem for a group of planar micro-r...
In the research field of multi-robot cooperation, reliable and low-cost motion capture is crucial for system development and validation. To address the high costs of traditional motion capture systems, this study proposes a real-time 6D pose estimati...
This study designed an adaptive neural network (NN) control method for a category of multi-robotic systems with parametric uncertainties. In practical engineering applications, systems commonly face design challenges due to uncertainties in their par...
Mobile robots are extensively used to complete repetitive operations in industrial areas such as intelligent transportation, logistics, and manufacturing systems. This paper addresses the path planning problem of multi-type robot systems with time wi...
In this paper, an adaptive and resilient consensus control mechanism for multi-robot systems under Byzantine attack, based on sliding mode control, is proposed. The primary aim of the article is to develop a finite-time consensus control strategy eve...
Multi-robot motion planning (MRMP) requires each robot to possess strong local planning capabilities while maintaining global consistency. However, existing research often fails to address both global and local planning simultaneously, resulting in c...
The problem of velocity tracking is considered essential in the consensus of multi-wheeled mobile robot systems to minimise the total operating time and enhance the system’s energy efficiency. This study presents a novel switched-system approac...
This paper presents the design of a new control scheme for a group of omnidirectional robots in a multi-robot system operating in an environment with obstacles. The control scheme uses a decision agent based on discrete-time Markov chains and takes i...
Multi-robot ensembles comprising several manipulators are commonly used in industrial settings to process non-deterministic flows of items loaded by an upstream source onto a shared transportation system. After the execution of a given task, the robo...
A vast amount of research has been conducted on path planning over recent decades, driven by the complexity of achieving optimal solutions. This paper reviews multi-robot path planning approaches and presents the path planning algorithms for various...
This paper aims to address sensor-related challenges in simultaneous localization and mapping (SLAM) systems, specifically within the open-source Google Cartographer project, which implements graph-based SLAM. The primary problem tackled is the adapt...
In complex and dynamic environments, traditional pursuit–evasion studies may face challenges in offering effective solutions to sudden environmental changes. In this paper, a bio-inspired neural network (BINN) is proposed that approximates a pu...
This research explores the use of Q-Learning for real-time swarm (Q-RTS) multi-agent reinforcement learning (MARL) algorithm for robotic applications. This study investigates the efficacy of Q-RTS in the reducing convergence time to a satisfactory mo...
Modern manufacturing robots must dynamically balance multiple conflicting objectives amid rapidly evolving production demands. Traditional control approaches lack the adaptability required for real-time decision-making in Industry 4.0 environments. T...
To tackle the challenge of time-varying formation control for underactuated robots under model parameter uncertainties and environmental disturbances, this study proposes an affine formation control approach enhanced by an Extended State Observer. In...
In recent years, the formation control of multi-mobile robots has been widely investigated by researchers. With increasing numbers of robots in the formation, distributed formation control has become the development trend of multi-mobile robot format...
The more path conflicts between multiple robots, the more time it takes to avoid each other, and the more navigation time it takes for the robots to complete all tasks. This study designs a multi-robot navigation system based on deep reinforcement le...
Aimed at the problem that experimental verifications are difficult to execute due to lacking effective experimental platforms in the research field of multi-robot formation, we design a simple multi-robot formation platform. This proposed general and...
Multi-robot SLAM (simultaneous localization and mapping) is crucial for the implementation of robots in practical scenarios. Bandwidth constraints significantly influence multi-robot SLAM systems, prompting a reliance on lightweight feature descripto...
Robot navigation is a complex process that involves real-time localization, obstacle avoidance, map update, control, and path planning. Thus, it is also a computationally expensive process, especially in multi-robot systems. This paper presents a coo...
The intelligent warehouse is a modern logistics management system that uses technologies like the Internet of Things, robots, and artificial intelligence to realize automated management and optimize warehousing operations. The multi-robot system (MRS...
This work addresses the issue of multi-agent system (MAS) formation control under external disturbances and a directed communication topology. Firstly, a new disturbance observer is proposed to effectively reconstruct and compensate for external dist...
Multi-robot systems have been used in many fields by utilizing parallel working robots to perform missions by allocating tasks and cooperating. For task planning, multi-robot systems need to solve complex problems that simultaneously consider the mov...
Within the scope of the ongoing efforts to fight climate change, the application of multi-robot systems to environmental mapping and monitoring missions is a prominent approach aimed at increasing exploration efficiency. However, the application of s...
Multi-robot systems are often static and pre-configured during the design time of their software. Emerging cooperation between unknown robots is still rare and limited. Such cooperation might be basic like sharing sensor data or complex like conjoine...
In precision farming technology, the interest of the researchers has been focused on the applications of autonomous mobile robots for agricultural operations such as planting, inspection, spraying, and harvesting. However, each autonomous robot gener...
Circuit breakers (CBs) are mainly designed to interrupt current flow when faults are detected and have been widely used in industrial applications. The existing CBs manufacturing method is semi-automatic and requires a lot of labor. To realize flexib...
The exploration problem is a fundamental subject in autonomous mobile robotics that deals with achieving the complete coverage of a previously unknown environment. There are several scenarios where completing exploration of a zone is a main part of t...
The use of smart indoor robotics services is gradually increasing in real-time scenarios. This paper presents a versatile approach to multi-robot backing crash prevention in indoor environments, using hardware schemes to achieve greater competence. H...
Professional cleaning and safe social distance monitoring are often considered as demanding, time-consuming, repetitive, and labor-intensive tasks with the risk of getting exposed to the virus. Safe social distance monitoring and cleaning are emergin...
Numerous path-planning studies have been conducted in past decades due to the challenges of obtaining optimal solutions. This paper reviews multi-robot path-planning approaches and decision-making strategies and presents the path-planning algorithms...
Robots have been widely adopted in transportation and delivery applications. Path planning plays a critical role in determining the performance of robotic systems in these tasks. While existing research has predominantly focused on path planning for...
Aiming at the formation and maintenance of the multiple formations of nonholonomic constrained multi-robots, a leader-follower formation control method under the grouping consistency is proposed on the trajectory tracking of a nonholonomic constraine...
Path planning for multi-robot systems in complex dynamic environments is a key issue in autonomous robotics research. In response to the challenges posed by such environments, this paper proposes a dual-layer symmetric path planning algorithm that in...
Occasionally, professional rescue teams encounter issues while rescuing people during earthquake collapses. One such issue is the localization of wounded people from the earthquake. Machines used by rescue teams may cause crucial issues due to mislea...
The normal operation of a power grid largely depends on the effective monitoring and maintenance of transmission lines, which is a process that has many challenges. The traditional method of the manual or remote inspection of transmission lines is ti...
In recent years, multi-robot control systems and service robots equipped with graphical computing have been introduced in various application scenarios. However, the long-term operation of VSLAM calculation leads to reduced energy efficiency of the r...
The capabilities of collaborative robotics have transcended the conventional abilities of decentralised robots as it provides benefits such as scalability, flexibility and robustness. Collaborative robots can operate safely in complex human environme...
In this paper, a time-varying formation tracking protocol for second-order multi-sgent systems (MASs) is presented. The time-varying formation considers translation, rotation, and scaling of the geometric pattern that defines the formation. The contr...
Multi-robot systems are increasingly deployed in critical applications such as search and rescue, precision agriculture, and autonomous transportation. However, the presence of Byzantine robots—agents that intentionally transmit false or mislea...
Robot mapping and exploration is basic to many robotic applications such as search and rescue operations in disaster scenarios, warehouse management, service robotics, patrolling and autonomous driving. With recent advances in robot navigation and se...
This paper presents an Enhanced Particle Swarm Optimisation (EPSO) algorithm to improve multi-robot path planning by integrating a new path planning scheme with a cubic Bezier curve trajectory smoothing algorithm. Traditional PSO algorithms often res...
Most path planning algorithms used presently in multi-robot systems are based on offline planning. The Timed Enhanced A* (TEA*) algorithm gives the possibility of planning in real time, rather than planning in advance, by using a temporal estimation...
In this paper, we propose a multi-agent-based architecture for a Unity3D simulation of dynamic agrirobot-fleet-coordination methods. The architecture is based on a Robot Operating System (ROS) and Agrobots-SIM package that extends the existing packag...
ROS (Robot Operating System) has become the de facto standard in robotics research and development, with ROS 2, in particular, offering enhanced support for real-time communication, distributed systems, and scalable multi-robot applications. These ca...
With the escalating demand for automation in chemical laboratories, multi-robot systems are assuming an increasingly prominent role in chemical laboratories, particularly in the task of transporting reagents and experimental materials. In this paper,...
Task allocation plays an important role in multi-robot systems regarding team efficiency. Conventional heuristic or meta-heuristic methods face difficulties in generating satisfactory solutions in a reasonable computational time, particularly for lar...
Task allocation is an important problem in multi-robot systems, particularly in dynamic and unpredictable environments such as offshore oil platforms, large-scale factories, or disaster response scenarios, where high change rates, uncertain state tra...
In addressing the complex challenges of path planning in multi-robot systems, this paper proposes a novel Hybrid Decentralized and Centralized Training and Execution (DCTE) Strategy, aimed at optimizing computational efficiency and system performance...
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