This paper describes a novel procedure based on Core Path Graphs to generate continuously differentiable sub-optimal paths for wheeled mobile robots in the presence of obstacles. The operational scenario is first discretized with a finite dimensional grid of positions-directions pairs. A weighted and oriented graph is then defined whose nodes are the above mentioned grid points, and whose arcs ...

Corresponding Author: Azza El-Sayed Bayoumi Ibrahim Department of Computers and Systems, Electronics Research Institute, Giza, Egypt Email: [email protected] Abstract: This paper introduces and discusses a control strategy for nonholonomic wheeled mobile robots. The models of the robots include the kinematic and dynamic equations of motion. Trajectory tracking control problem of parallel wheeled ...

This paper presents the use of a hybrid collaborative stereo vision system (3D-distributed visual sensing using different kind of vision cameras) for the autonomous navigation of a wheeled robot team. It is proposed a triangulation-based method for the 3D-posture computation of an unknown object by considering the collaborative hybrid stereo vision system, and this way to steer the robots team ...

We report here the holonomy analysis of three wheeled mobile robots. Two of these, Vuton II and Nomad, have full mobility and are claimed by their inventors to be holonomic. We show that, in fact, they are nonholonomic. Nevertheless, conditions are given under which these robots can be designed for quasiholonomy, a concept introduced elsewhere and recalled here. The third robot, Quasimoro, has ...

Today’s trends in control engineering and robotics are blending gradually into a slightly challenging area, the development of fault tolerant real-time applications. Hence, applications should timely deliver synchronized data-sets, minimize latency in their response and meet their performance specifications in the presence of disturbances and faults. The fault tolerant behavior in mobile robots...

The preservation of connectivity in mobile robot networks is critical to the success of most existing algorithms designed to achieve various goals. The most basic method to achieve this involves each agent preserving its edges for all time. More advanced methods preserve a (minimum) spanning tree in the network. Other methods are based on increasing the algebraic graph connectivity, which is gi...

3D DYNAMIC MODELING OF A SPHERICAL WHEELED SELF-BALANCING MOBILE ROBOT Ali Nail İNAL M.S. in Electrical and Electronics Engineering Supervisor: Prof. Dr. Ömer MORGÜL August 2012 In recent years, dynamically stable platforms that move on spherical wheels, also known as BallBots, gained popularity in the robotics literature as an alternative locomotion method to statically stable wheeled mobile r...

Disaster recovery robots must operate in unstructured environments where wheeled or tracked motion may not be feasible or where it may be subject to extreme slip. Many industrial disaster scenarios also preclude reliance on GNSS or other external signals as robots are deployed indoors or underground. Two of the candidates for precise positioning in these scenarios are visual odometry and inerti...

This paper introduces the basis of a graphical software application, designed for low cost hardware, as a general, flexible and open platform to work on robotics. VirtualRobot has proven to be a useful tool in many fields of robotics, such as manipulator programming, mobile robots control (wheeled, sub-aquatic and walking robots), distance computation, sensor simulation, collision detection, mo...

The paper discusses the functional design and the embodiment design of Epi.q Lizard, which is the last version of the Epi.q ground mobile robots family. Epi.q robots are equipped with underactuated stepping triple wheel locomotion units with epicyclical gearings, capable of switching between wheeled and legged locomotion without control intervention, depending on the dynamic condition of the ve...