Autonomous Mobile Robots and Multi-Robot Systems

Autonomous Mobile Robots and Multi-Robot Systems

by Eugene Kagan, Nir Shvalb, Irad Ben-Gal
Released December 2019
Publisher(s): Wiley
ISBN: 9781119212867

Read it now on the O’Reilly learning platform with a 10-day free trial.

O’Reilly members get unlimited access to books, live events, courses curated by job role, and more from O’Reilly and nearly 200 top publishers.

Start your free trial

Book description

Offers a theoretical and practical guide to the communication and navigation of autonomous mobile robots and multi-robot systems

This book covers the methods and algorithms for the navigation, motion planning, and control of mobile robots acting individually and in groups. It addresses methods of positioning in global and local coordinates systems, off-line and on-line path-planning, sensing and sensors fusion, algorithms of obstacle avoidance, swarming techniques and cooperative behavior. The book includes ready-to-use algorithms, numerical examples and simulations, which can be directly implemented in both simple and advanced mobile robots, and is accompanied by a website hosting codes, videos, and PowerPoint slides

Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming consists of four main parts. The first looks at the models and algorithms of navigation and motion planning in global coordinates systems with complete information about the robot’s location and velocity. The second part considers the motion of the robots in the potential field, which is defined by the environmental states of the robot's expectations and knowledge. The robot's motion in the unknown environments and the corresponding tasks of environment mapping using sensed information is covered in the third part. The fourth part deals with the multi-robot systems and swarm dynamics in two and three dimensions.

  • Provides a self-contained, theoretical guide to understanding mobile robot control and navigation
  • Features implementable algorithms, numerical examples, and simulations
  • Includes coverage of models of motion in global and local coordinates systems with and without direct communication between the robots
  • Supplemented by a companion website offering codes, videos, and PowerPoint slides

Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming is an excellent tool for researchers, lecturers, senior undergraduate and graduate students, and engineers dealing with mobile robots and related issues.

Table of contents

  1. Cover
  2. List of Contributors
  3. Preface
  4. Acknowledgments
  5. About the Companion Website
  6. Introduction
    1. I.1 Early History of Robots
    2. I.2 Autonomous Robots
    3. I.3 Robot Arm Manipulators
    4. I.4 Mobile Robots
    5. I.5 Multi‐Robot Systems and Swarms
    6. I.6 Goal and Structure of the Book
    7. References
  7. 1 Motion‐Planning Schemes in Global Coordinates
    1. 1.1 Motivation
    2. 1.2 Notations
    3. 1.3 Motion‐Planning Schemes: Known Configuration Spaces
    4. 1.4 Motion‐Planning Schemes: Partially Known Configuration Spaces
    5. 1.5 Summary
    6. References
  8. 2 Basic Perception
    1. 2.1 Basic Scheme of Sensors
    2. 2.2 Obstacle Sensor (Bumper)
    3. 2.3 The Odometry Sensor
    4. 2.4 Distance Sensors
    5. 2.5 Summary
    6. References
  9. 3 Motion in the Global Coordinates
    1. 3.1 Models of Mobile Robots
    2. 3.2 Kinematic and Control of Hilare‐Type Mobile Robots
    3. 3.3 Kinematic and Control of Quadrotor Mobile Robots
    4. References
  10. 4 Motion in Potential Field and Navigation Function
    1. 4.1 Problem Statement
    2. 4.2 Gradient Descent Method of Optimization
    3. 4.3 Minkowski Sum
    4. 4.4 Potential Field
    5. 4.5 Navigation Function
    6. 4.6 Summary
    7. References
  11. 5 GNSS and Robot Localization
    1. 5.1 Introduction to Satellite Navigation
    2. 5.2 Position Calculation
    3. 5.3 Coordinate Systems
    4. 5.4 Velocity Calculation
    5. 5.5 Urban Navigation
    6. 5.6 Incorporating GNSS Data with INS
    7. 5.7 GNSS Protocols
    8. 5.8 Other Types of GPS
    9. 5.9 GNSS Threats
    10. References
  12. 6 Motion in Local Coordinates
    1. 6.1 Global Motion Planning and Navigation
    2. 6.2 Motion Planning with Uncertainties
    3. 6.3 Online Motion Planning
    4. 6.4 Global Positioning with Local Maps
    5. 6.5 UAV Motion Planning in 3D Space
    6. 6.6 Summary
    7. References
  13. 7 Motion in an Unknown Environment
    1. 7.1 Probabilistic Map‐Based Localization
    2. 7.2 Mapping the Unknown Environment and Decision‐Making
    3. 7.3 Examples of Probabilistic Motion Planning
    4. 7.4 Summary
    5. References
  14. 8 Energy Limitations and Energetic Efficiency of Mobile Robots
    1. 8.1 Introduction
    2. 8.2 The Problem of Energy Limitations in Mobile Robots
    3. 8.3 Review of Selected Literature on Power Management and Energy Control in Mobile Robots
    4. 8.4 Energetic Model of Mobile Robot
    5. 8.5 Mobile Robots Propulsion
    6. 8.6 Energetic Model of Mechanical Energies Sources
    7. 8.7 Summary
    8. References
  15. 9 Multi‐Robot Systems and Swarming
    1. 9.1 Multi‐Agent Systems and Swarm Robotics
    2. 9.2 Control of the Agents and Positioning of Swarms
    3. 9.3 Summary
    4. References
  16. 10 Collective Motion with Shared Environment Map
    1. 10.1 Collective Motion with Shared Information
    2. 10.2 Swarm Dynamics in a Heterogeneous Environment
    3. 10.3 Examples of Swarm Dynamics with Shared Environment Map
    4. 10.4 Summary
    5. References
  17. 11 Collective Motion with Direct and Indirect Communication
    1. 11.1 Communication Between Mobile Robots in Groups
    2. 11.2 Simple Communication Protocols and Examples of Collective Behavior
    3. 11.3 Examples of Indirect and Combined Communication
    4. 11.4 Summary
    5. References
  18. 12 Brownian Motion and Swarm Dynamics
    1. 12.1 Langevin and Fokker‐Plank Formalism
    2. 12.2 Examples
    3. 12.3 Summary
    4. References
  19. 13 Conclusions
  20. Index
  21. End User License Agreement

Product information

  • Title: Autonomous Mobile Robots and Multi-Robot Systems
  • Author(s): Eugene Kagan, Nir Shvalb, Irad Ben-Gal
  • Release date: December 2019
  • Publisher(s): Wiley
  • ISBN: 9781119212867