Line formation algorithm in a swarm of reactive robots constrained by underwater environment

Sousselier, Thomas; Dréo, Johann; Sevaux, Marc

doi:10.1016/j.eswa.2015.02.040

Cited by 24 publications

(8 citation statements)

References 17 publications

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“…Searching large areas for a particular signal or feature is a formidable task that, at the moment, has no satisfactory solution. Typical approaches include the use of very few high complexity robotic devices that randomly explore the area of interest in a sequential fashion [ 1 ]. The disadvantages of such approaches are apparent: long search time, high probability of missing the target, high cost, and the possibility of loss of the agent, which again adds to the expected cost value.…”

Section: Introductionmentioning

confidence: 99%

“…It is easy to deploy and has the significant potential for searching an area in a cooperative and parallel way. Sousselier et al proposed a line formation algorithm for the underwater environment searching task [ 1 ]. Nathan et al introduced a forming method which employed a small set of distributed positioning rules, i.e., coalescing, gap-seeking and stationing rules, to guide the movements of artificial flocking agents aimed to get the v-like formation [ 19 ].…”

Section: Introductionmentioning

confidence: 99%

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Line and V-Shape Formation Based Distributed Processing for Robotic Swarms

Yang

Wang

Bauer

2018

Sensors

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Efficient distributed processing is vital for collaborative searching tasks of robotic swarm systems. Typically, those systems are decentralized, and the members have only limited communication and processing capacities. What is illustrated in this paper is a distributed processing paradigm for robotic swarms moving in a line or v-shape formation. The introduced concept is capable of exploits the line and v-shape formations for 2-D filtering and processing algorithms based on a modified multi-dimensional Roesser model. The communication is only between nearest adjacent members with a simple state variable. As an example, we applied a salient region detection algorithm to the proposed framework. The simulation results indicate the designed paradigm can detect salient regions by using a moving line or v-shape formation in a scanning way. The requirement of communication and processing capability in this framework is minimal, making it a good candidate for collaborative exploration of formatted robotic swarms.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Line and V-Shape Formation Based Distributed Processing for Robotic Swarms

Yang

Wang

Bauer

2018

Sensors

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“…The underwater manipulator is an indispensable part of the underwater vehicle, performing the tasks such as biological samples collection, underwater salvage and so on [ 1 , 2 , 3 ]. However, due to the huge water pressure, uncertain operation object and lack of force perception, it will bring over operation or miss operation to limit the task efficiency [ 4 , 5 ]. The underwater sight of the task area is easily influenced by the rotation of the propeller, which disturbs the observation of the underwater camera, and the underwater manipulator will perform local search if force measurement acquired [ 6 ].…”

Section: Introductionmentioning

confidence: 99%

Design, Analysis and Experiment of a Tactile Force Sensor for Underwater Dexterous Hand Intelligent Grasping

Zhang

Liu

Gao

et al. 2018

Sensors

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This paper proposes a novel underwater dexterous hand structure whose fingertip is equipped with underwater tactile force sensor (UTFS) array to realize the grasping sample location determination and force perception. The measurement structure, theoretical analysis, prototype development and experimental verification of the UTFS are purposefully studied in order to achieve accurate measurement under huge water pressure influence. The UTFS is designed as capsule shape type with differential pressure structure, and the external water pressure signal is separately transmitted to the silicon cup bottom which is considered to be an elastomer with four strain elements distribution through the upper and lower flexible contacts and the silicone oil filled in the upper and lower cavities of UTFS. The external tactile force information can be obtained by the vector superposition between the upper and lower of silicon cup bottom to counteract the water pressure influence. The analytical solution of deformation and stress of the bottom of the square silicon cup bottom is analyzed with the use of elasticity and shell theory, and compared with the Finite Element Analysis results, which provides theoretical support for the distribution design of four strain elements at the bottom of the silicon cup. At last, the UTFS zero drift experiment without force applying under different water depths, the output of the standard force applying under different water depth and the test of the standard force applying under conditions of different 0 ∘C–30 ∘C temperature with 0.1 m water depth are carried out to verify the performance of the sensor. The experiments show that the UTFS has a high linearity and sensitivity, and which has a regular zero drift and temperature drift which can be eliminated by calibration algorithm.

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“…In an underwater environment, structures and fluids affect each other in a complicated manner through factors such as buoyancy, drag, and fluid-related vibrations, making it difficult to experimentally measure the dynamic properties of underwater structures (e.g. a submersible vessel with a mounted manipulator) (Marani et al, 2009;Xu et al, 2009;Chen et al, 2010;Han et al, 2011;Ismail and Dunnigan, 2011;Yao and Wang, 2011;Zhang and Chu, 2012;Farivarnejad and Moosavian, 2014;Song et al, 2014;Jin et al, 2015;Sousselier et al, 2015). To tackle this issue, we proposed a noncontact vibration testing method in which the response to an underwater laser ablation (LA) excitation force is measured by laser Doppler vibrometer (LDV) (Hosoya et al, 2016a).…”

Section: Introductionmentioning

confidence: 99%

Dynamic characterizations of underwater structures using noncontact vibration tests based on nanosecond laser ablation in water: evaluation of passive vibration suppression with damping materials

Hosoya

Kajiwara

Umenai

et al. 2017

Journal of Vibration and Control

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Recently, the demand for higher performing underwater structures under diverse conditions has increased. Examples include improved precision and speed of the position control of robot manipulators. To prevent the control spillover problems when active controls are used, a control system is typically constituted with a low-pass filter to eliminate all modes except for the target modes. However, experimentally measuring the dynamic properties of an underwater structure in an environment where the structure and a fluid continuously influence each other is difficult. We have recently proposed a noncontact vibration testing method for dynamic characterizations of underwater structures in which the response to a laser ablation excitation force is measured by laser Doppler vibrometer. Integrating passive control using a vibration-damping material affixed onto the underwater structure and active control constituted with the low-pass filter may realize a more cost-effective system. To develop this combined control into a practical method, the reliability of the measured frequency response function must be validated. Additionally, the applicable frequency range must be expanded to encompass the high-frequency region (several tens of kHz) so that the vibration suppression quality of underwater structures can be evaluated. Herein we quantify the effect of random measurement errors on the measured frequency response function with a reliability factor based on the concept of coherence functions. Using the measured frequency response function with a reliability factor, we demonstrated that our method can evaluate passive vibration suppression effect of an underwater structure with a damping material in high-frequency ranges up to 20 kHz.

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Line formation algorithm in a swarm of reactive robots constrained by underwater environment

Cited by 24 publications

References 17 publications

Line and V-Shape Formation Based Distributed Processing for Robotic Swarms

Line and V-Shape Formation Based Distributed Processing for Robotic Swarms

Design, Analysis and Experiment of a Tactile Force Sensor for Underwater Dexterous Hand Intelligent Grasping

Dynamic characterizations of underwater structures using noncontact vibration tests based on nanosecond laser ablation in water: evaluation of passive vibration suppression with damping materials

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