MOBILE

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MOBILE

• MULTIROBOT SYSTEMS

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ABSTRACT

• As research progresses in
  distributed robotic systems,more and more
  aspects of multi-robot systems are being explored.

In this paper, we consider the
problem of exploring an unknown environment with
a team of robots. As in single-robot exploration
the goal is to minimize the overall exploration
time. The key problem to be solved in the context
of multiple robots is to choose appropriate
target points for the individual robots so that
they simultaneously explore different regions of
the environment. We discuss some more
applications regarding multirobots which involves
biological,medical and naval applications and
also consumer robotic problems
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INTRODUCTION

• In recent years, multirobot systems have been the
  object of wide spread research interest in the
  scientific community given their application in
  different fields of robotics such as service,
  miltary,educational robotics.
• The unique characteristics of multirobots are..,
• Redundancy
• Flexibility
• A major goal in robotics is to develop machines
  that perform useful task with minimal
  supervision.

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The entrapment/escorting mission.

• The Escorting mission
• The requirement of surrounding a target whose
  movement is not known a priori but can be
  measured in real time.
• With reference to the planar case, the
  escorting mission is set inorder to center the
  target and whose sides define a sort of
  intrusion/escape window.

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• Following the NSB approach, the escorting mission
  is decomposed into elementary problems to be
  individually described and solved they are..,
• Command the robots centroid to be coincident with
  the target.
• Move the robots on a given circumference around
  the centroid.
• Properly distribute the robots along the
  circumference.
• Avoid collisions among the robots themselves and
  with obstacles.

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• FIG Basic topology of the Dwarf
  robot.

Right Eye Looking Here
Caster Wheel

Left Eye Looking Here
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Robotics control system
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Consumer Robotic Products