Current research in multirobot systems

Abstract

As research progresses in distributed robotic systems, more and more aspects of multirobot systems are being explored. This article describes advances in multirobot systems, and surveys the current state of the art. The focus is principally on research that has been demonstrated in physical robot implementations. I have identified eight primary research topics within multirobot systemsbiological inspirations, communication, architectures, localization/mapping/exploration, object transport and manipulation, motion coordination, reconfigurable robots, and learning -and discuss the current state of research in these areas. As I describe each research area, I identify some key open issues in multirobot team research, and conclude by identifying several additional open research issues in distributed mobile robotic systems.

Follow-the-leader formation marching through a scalable O(log<inf>2</inf>n) Parallel Architecture.

“…force-energy relationships to preserve a specified formation and obstacle avoidance). Section II reviews the mathematical foundations of classic 1 The word "data" refers to the Equations of Motion -EoM that are being propagated through the Multi-robot System. Newton Euler's multibody-coupled Equations of Motion and also introduces how to improve on the computation of those equations in order to parallelize and distribute them within the MRS.…”

“…A variety of techniques have been proposed in order to approach the problems of cooperation and coordination in different kinds of applications [1], such as exploration and mapping, search and rescue, environmental monitoring, sensor networks, manipulation and transportation, etc. The field of MRS is nowadays quite extended, ranging from swarm robotics, where a high number of usually homogeneous units are involved, to systems composed by few sophisticated robots with different capabilities.…”

Bio-inspired multi-agent data harvesting in a proactive urban monitoring environment

“…In our system, the agent state transition diagram is composed of two states: Lévy Jump and Datataxis, and the state transition is triggered when a certain event happens such as conflicts. Interested readers are referred to [23] for a taxonomy of cooperative robotics and [51] for a brief introduction to the current research topics in multi-robot systems.…”

Nonlinear Stable Formation Control Using Omnidirectional Images

“…Multi-robot systems may execute tasks in a faster and more efficient way and may also be more robust to failure than a single robot. There are even some applications that can not be achieved by only one robot and just by a group of them (Parker, 2003;Cao et al, 1997). Another known advantage of multi-robot systems is that instead of using one expensive robot with high processing capacity and many sensors, sometimes one can use a team of simpler and inexpensive robots to solve the same task.…”