Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication, and Swarming

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Eugene Kagan, Nir Shvalb, Irad Ben-Gal
John Wiley & Sons, Dec 16, 2019 - Technology & Engineering - 300 pages

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.

 

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Contents

MotionPlanning Schemes in Global Coordinates
21
Basic Perception
35
Motion in the Global Coordinates
65
Motion in Potential Field and Navigation Function
87
GNSS and Robot Localization
109
Motion in Local Coordinates
125
Motion in an Unknown Environment
143
Energy Limitations and Energetic Efficiency of Mobile Robots
183
MultiRobot Systems and Swarming
199
References
238
Collective Motion with Shared Environment Map
243
Collective Motion with Direct and Indirect Communication
273
Brownian Motion and Swarm Dynamics
305
Conclusions
317
Copyright

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About the author (2019)

EUGENE KAGAN, PHD, is a senior lecturer in the Department of Industrial Engineering at Ariel University, Israel, and is also an advisor in the Department of Mathematics at the Weizmann Institute of Science and an affiliated researcher at the Laboratory for AI, Machine Learning, & Business Data Analytics at Tel-Aviv University.

NIR SHVALB, PHD, is a Professor at the Faculty of Engineering at Ariel University, Israel, and the joint head of Kinematics and Computational Geometry laboratory.

IRAD BEN-GAL, PHD, is a Professor at the Department of Industrial Engineering at Tel-Aviv University, Israel. He is the head of the Laboratory for AI, Machine Learning, Business & Data Analytics (LAMBDA) at Tel-Aviv University.

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