Distributed mobile robots

Conference paper

Sattar, T, Patel, T and Rodriguez, HL (2010). Distributed mobile robots. 13th International Conference on Climbing and Walking Robots and the Support Technology for Mobile Machines. Japan 31 Aug - 03 Sep 2010 pp. 106-114
AuthorsSattar, T, Patel, T and Rodriguez, HL
TypeConference paper
Abstract

The aim of this work is to develop a team of mobile robots that are linked mechanically to each other by a system of physical links and rotary sensors. They sense the rotation and motion of neighbouring robots and move in response to preserve the collective desired configuration of the robots. Only one robot in the team is given rotation and translation instructions. The others simply follow this robot by sensing its motion using the sensors comprising of the links and rotary transducers. The sensors are used to preserve the collective desired configuration despite errors in the motion due to non-identical dynamics and control systems of individual robots. In this paper we investigate one possible arrangement of links and sensors to control the situation described above and present the initial simulation results of motion trajectories obtained for the distributed robots arranged in vertical and horizontal serial-link chains.

Year2010
JournalMobile Robotics: Solutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009
Accepted author manuscript
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Publication dates
Print31 Aug 2010
Publication process dates
Deposited02 Jan 2019
Accepted31 Aug 2010
ISBN9814291269
Page range106-114
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https://openresearch.lsbu.ac.uk/item/87q0x

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Accepted author manuscript
88. CLAWAR 2010 Distributed Robots.pdf
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Sattar, TP, Hilton, P and Howlader, MOF (2016). Deployment of laser cutting head with wall climbing robot for nuclear decommissioning. 19th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2016). London 12 - 14 Sep 2016 World Scientific Publishing.
Safeguarding Safety Critical Infrastructure with Mobile Robot Inspectors , Opportunities and Challenges
Sattar, TP (2016). Safeguarding Safety Critical Infrastructure with Mobile Robot Inspectors , Opportunities and Challenges. International Conference on Sustainable Vital Technologies in Engineering and Informatics, BUE ACE1 2016. Cairo, Egypt 07 - 09 Nov 2016
Numerical fitting-based likelihood calculation to speed up the particle filter
Li, T, Sun, S, Corchado, JM, Sattar, TP and Si, S (2016). Numerical fitting-based likelihood calculation to speed up the particle filter. International Journal of Adaptive Control and Signal Processing. 30 (11), pp. 1583-1602. https://doi.org/10.1002/acs.2656
Non-destructive testing and condition monitoring with mobile wall climbing and swimming robots
Sattar, TP (2014). Non-destructive testing and condition monitoring with mobile wall climbing and swimming robots. 11th International Conference on Condition Monitoring and Machinery Failure Prevention Technologies (CM 2014/MFPT 2014). Manchester, UK 10 - 12 Jun 2014 British Institute of Non-Destructive Testing (BINDT).
Comparison of MUSIC and ESPRIT DOA Estimation algorithms for Wireless Communications
Oumar, O A, Siyau, M F and Sattar, T. (2012). Comparison of MUSIC and ESPRIT DOA Estimation algorithms for Wireless Communications. The First International Conference on Future Generation Communication Technologies. London 12 - 14 Dec 2012