Pub Date : 2021-05-23DOI: 10.21203/RS.3.RS-598481/V1
Hirotaka Sato, Tran-Ngoc Pt, Long Ld, Chong Bs, Nguyen Hd, Dung Vt, Feng Cao, Y. Li, K. Kai, Gan Jh, Vo-Doan Tt, Thien-Minh Nguyen
There is still a long way to go before artificial mini robots are really used for search and rescue missions in disaster-hit areas due to hindrance in power consumption, computation load of the locomotion, and obstacle-avoidance system. Insect–computer hybrid system, which is the fusion of living insect platform and microcontroller, emerges as an alternative solution. This study demonstrates the first-ever insect–computer hybrid system conceived for search and rescue missions, which is capable of autonomous navigation and human presence detection in an unstructured environment. Customized navigation control algorithm utilizing the insect’s intrinsic navigation capability achieved exploration and negotiation of complex terrains. On-board high-accuracy human presence detection using infrared camera was achieved with a custom machine learning model. Low power consumption suggests system suitability for hour-long operations and its potential for realization in real-life missions.
{"title":"Insect-Computer Hybrid System for Autonomous Search and Rescue Mission","authors":"Hirotaka Sato, Tran-Ngoc Pt, Long Ld, Chong Bs, Nguyen Hd, Dung Vt, Feng Cao, Y. Li, K. Kai, Gan Jh, Vo-Doan Tt, Thien-Minh Nguyen","doi":"10.21203/RS.3.RS-598481/V1","DOIUrl":"https://doi.org/10.21203/RS.3.RS-598481/V1","url":null,"abstract":"\u0000 There is still a long way to go before artificial mini robots are really used for search and rescue missions in disaster-hit areas due to hindrance in power consumption, computation load of the locomotion, and obstacle-avoidance system. Insect–computer hybrid system, which is the fusion of living insect platform and microcontroller, emerges as an alternative solution. This study demonstrates the first-ever insect–computer hybrid system conceived for search and rescue missions, which is capable of autonomous navigation and human presence detection in an unstructured environment. Customized navigation control algorithm utilizing the insect’s intrinsic navigation capability achieved exploration and negotiation of complex terrains. On-board high-accuracy human presence detection using infrared camera was achieved with a custom machine learning model. Low power consumption suggests system suitability for hour-long operations and its potential for realization in real-life missions.","PeriodicalId":184950,"journal":{"name":"arXiv: Robotics","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124463394","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
There have been numerous studies on the problem of flocking control for multiagent systems whose simplified models are presented in terms of point-mass elements. Meanwhile, full dynamic models pose some challenging problems in addressing the flocking control problem of mobile robots due to their nonholonomic dynamic properties. Taking practical constraints into consideration, we propose a novel approach to distributed flocking control of nonholonomic mobile robots by bounded feedback. The flocking control objectives consist of velocity consensus, collision avoidance, and cohesion maintenance among mobile robots. A flocking control protocol that is based on the information of neighbor mobile robots is constructed. The theoretical analysis is conducted with the help of a Lyapunov-like function and graph theory. Simulation results are shown to demonstrate the efficacy of the proposed distributed flocking control scheme.
{"title":"Bounded distributed flocking control of nonholonomic mobile robots","authors":"Thang Nguyen, H. La, V. Azimi, Thanh-Trung Han","doi":"10.1049/PBCE119F_CH11","DOIUrl":"https://doi.org/10.1049/PBCE119F_CH11","url":null,"abstract":"There have been numerous studies on the problem of flocking control for multiagent systems whose simplified models are presented in terms of point-mass elements. Meanwhile, full dynamic models pose some challenging problems in addressing the flocking control problem of mobile robots due to their nonholonomic dynamic properties. Taking practical constraints into consideration, we propose a novel approach to distributed flocking control of nonholonomic mobile robots by bounded feedback. The flocking control objectives consist of velocity consensus, collision avoidance, and cohesion maintenance among mobile robots. A flocking control protocol that is based on the information of neighbor mobile robots is constructed. The theoretical analysis is conducted with the help of a Lyapunov-like function and graph theory. Simulation results are shown to demonstrate the efficacy of the proposed distributed flocking control scheme.","PeriodicalId":184950,"journal":{"name":"arXiv: Robotics","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121785381","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-11-22DOI: 10.1016/J.IFACOL.2017.08.1245
Shahab Heshmati-alamdari, Alexandros Nikou, K. Kyriakopoulos, Dimos V. Dimarogonas
{"title":"A Robust Force Control Approach for Underwater Vehicle Manipulator Systems","authors":"Shahab Heshmati-alamdari, Alexandros Nikou, K. Kyriakopoulos, Dimos V. Dimarogonas","doi":"10.1016/J.IFACOL.2017.08.1245","DOIUrl":"https://doi.org/10.1016/J.IFACOL.2017.08.1245","url":null,"abstract":"","PeriodicalId":184950,"journal":{"name":"arXiv: Robotics","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132824198","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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