Distributed herding of multiple robots in cluttered environments

Kim, Jonghoek

doi:10.1016/j.robot.2021.103889

Cited by 1 publication

(1 citation statement)

References 30 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Among the reported cases, the use of LiDAR and cameras for positioning is common, but it can be expensive, especially in stable internal environments. Magnetic tapes are a cost-effective alternative, particularly in smaller spaces [16]. Additionally, there's limited mention of a comprehensive evaluation system for precise customer diagnosis and efficient delivery of multiple orders along a single path, which is an area for potential improvement in waiter robot design.…”

Section: ) Ongoing Researchmentioning

confidence: 99%

Design and Development of FOODIEBOT Robot: From Simulation to Design

Moshayedi,

Roy,

Liao

et al. 2024

IEEE Access

View full text Add to dashboard Cite

This investigation is centrally focused on the comprehensive evolution and enhancement of FOODIEBOT, an adaptive service automaton with a wide range of functionalities. Its capabilities encompass sophisticated image processing methods, seamlessly integrated via mobile applications (APP) and web interfaces, tailored specifically for intricate object manipulation in dining hall settings.During its developmental phase, the precise calibration of PID controller coefficients emerged as an essential requirement. The model underwent meticulous scrutiny through detailed simulations using MATLAB software. Following this phase, its operational efficiency navigating through circular, elliptical, spiral, and octagonal trajectories underwent rigorous examination, utilizing optimization methodologies like BAS, PSO, POA, and EO. The exposition emphasizes the diverse dispersion of optimized coefficients within each algorithmic framework. The pinnacle of this effort involved a comprehensive evaluation of pathway performance, amalgamating insights from each optimization paradigm. The discussion extensively delineates both simulated and realtime performance metrics of the robot, validating the accuracy and reliability of simulation in deriving PID controller values.In the comprehensive evaluation of methodologies and the robotic system's effectiveness, the BAS technique excels in operational efficiency. This method consistently outperforms its counterparts in execution time, primarily due to its meticulous optimization of particle count. The comparative analysis across various trajectories reveals intriguing insights. The EO approach showcases outstanding accuracy in Path 1, while the POA method achieves optimal precision in Path 3. Impressively, the BAS technique demonstrates unparalleled accuracy in Path 4. Furthermore, in terms of solution optimization, the BAS method consistently displays the shortest execution times across all traversed pathways. When examining maximum velocity along these routes, the PSO method excels in Paths 1, 3, and 4, consistently achieving the highest speeds. Notably, Path 2 uniquely displays the peak velocity attained by the POA method.This article presents comprehensive insights into the constituent elements of the robotic system's design. The inquiry delves into the intricate nuances of optimization methodologies, elucidating their profound impact on the service automaton's performance across diverse orientations. The pragmatic implications underscore the critical role of temporal considerations in the judicious selection of these methodologies. The observed congruence between simulated and practical performance serves as a definitive validation, affirming the precision of simulation computations and the subsequent derivation of PID controller values.

show abstract

Section: ) Ongoing Researchmentioning

confidence: 99%