Workspace Allocation for Team of Robots with Different Actuation Capabilities

Mert Turanli; Hakan Temeltas

doi:10.1109/ICCR.2018.8534496

Workspace Allocation for Team of Robots with Different Actuation Capabilities

Mert Turanli, Hakan Temeltas

Department of Control and Automation Engineering

Istanbul Technical University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Citations (Scopus)

Abstract

In this paper, the adaptation of multiple agents to actuation performance ariations under localization uncertainty is inestigated. The agents are modeled as nonholonomic wheeled mobile ehicles and Guaranteed Power Diagrams (GPD or GPD) are used in order the robots to partition the workspace under the assumption that the locations of the agents are known within uncertainty circles. An online adaptie estimation algorithm is used for each agent to calculate the weight of its GP-cell. So, the robots accomplish the coerage control to perform a collaboratie task by giing larger portions of the workspace to the agents that hae better actuation performances and smaller regions to the ones whose performances are worse than the other agents. Simulation results and ROS implementation show the effectieness of the algorithm.

Original language	English
Title of host publication	2018 International Conference on Control and Robots, ICCR 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	11-18
Number of pages	8
ISBN (Electronic)	9781538682432
DOIs	https://doi.org/10.1109/ICCR.2018.8534496
Publication status	Published - 13 Nov 2018
Event	2018 International Conference on Control and Robots, ICCR 2018 - Hong Kong, Hong Kong Duration: 15 Sept 2018 → 17 Sept 2018

Publication series

Name	2018 International Conference on Control and Robots, ICCR 2018

Conference

Conference	2018 International Conference on Control and Robots, ICCR 2018
Country/Territory	Hong Kong
City	Hong Kong
Period	15/09/18 → 17/09/18

Bibliographical note

Publisher Copyright:
© 2018 IEEE.

Keywords

actuation ariations
coerage control
guaranteed power oronoi diagrams
workspace allocation

Access to Document

10.1109/ICCR.2018.8534496

Cite this

Turanli, M., & Temeltas, H. (2018). Workspace Allocation for Team of Robots with Different Actuation Capabilities. In 2018 International Conference on Control and Robots, ICCR 2018 (pp. 11-18). Article 8534496 (2018 International Conference on Control and Robots, ICCR 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCR.2018.8534496

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abstract = "In this paper, the adaptation of multiple agents to actuation performance ariations under localization uncertainty is inestigated. The agents are modeled as nonholonomic wheeled mobile ehicles and Guaranteed Power Diagrams (GPD or GPD) are used in order the robots to partition the workspace under the assumption that the locations of the agents are known within uncertainty circles. An online adaptie estimation algorithm is used for each agent to calculate the weight of its GP-cell. So, the robots accomplish the coerage control to perform a collaboratie task by giing larger portions of the workspace to the agents that hae better actuation performances and smaller regions to the ones whose performances are worse than the other agents. Simulation results and ROS implementation show the effectieness of the algorithm.",

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Turanli, M & Temeltas, H 2018, Workspace Allocation for Team of Robots with Different Actuation Capabilities. in 2018 International Conference on Control and Robots, ICCR 2018., 8534496, 2018 International Conference on Control and Robots, ICCR 2018, Institute of Electrical and Electronics Engineers Inc., pp. 11-18, 2018 International Conference on Control and Robots, ICCR 2018, Hong Kong, Hong Kong, 15/09/18. https://doi.org/10.1109/ICCR.2018.8534496

Workspace Allocation for Team of Robots with Different Actuation Capabilities. / Turanli, Mert; Temeltas, Hakan.
2018 International Conference on Control and Robots, ICCR 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 11-18 8534496 (2018 International Conference on Control and Robots, ICCR 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - In this paper, the adaptation of multiple agents to actuation performance ariations under localization uncertainty is inestigated. The agents are modeled as nonholonomic wheeled mobile ehicles and Guaranteed Power Diagrams (GPD or GPD) are used in order the robots to partition the workspace under the assumption that the locations of the agents are known within uncertainty circles. An online adaptie estimation algorithm is used for each agent to calculate the weight of its GP-cell. So, the robots accomplish the coerage control to perform a collaboratie task by giing larger portions of the workspace to the agents that hae better actuation performances and smaller regions to the ones whose performances are worse than the other agents. Simulation results and ROS implementation show the effectieness of the algorithm.

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Workspace Allocation for Team of Robots with Different Actuation Capabilities

Abstract

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Bibliographical note

Keywords

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