Intelligent state changing applied to multi-robot systems

Detalhes bibliográficos
Autor(a) principal: Nascimento, Tiago Pereira do
Data de Publicação: 2013
Outros Autores: Moreira, António Paulo, Conceição, André G. Scolari, Bonarini, Andrea
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Institucional da UFBA
Texto Completo: http://repositorio.ufba.br/ri/handle/ri/13426
Resumo: Texto completo. Acesso restrito. p. 115–124
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spelling Nascimento, Tiago Pereira doMoreira, António PauloConceição, André G. ScolariBonarini, AndreaNascimento, Tiago Pereira doMoreira, António PauloConceição, André G. ScolariBonarini, Andrea2013-10-31T18:05:24Z20130921-8890http://repositorio.ufba.br/ri/handle/ri/13426v. 61, n. 2Texto completo. Acesso restrito. p. 115–124The target searching problem is a situation where a formation of multi-robot systems is set to search for a target and converge towards it when it is found. This problem lies in the fact that the target is initially absent and the formation must search for it in the environment. During the target search, false targets may appear dragging the formation towards it. Therefore, in order to avoid the formation following a false target, this paper presents a new methodology using the Takagi–Sugeno type fuzzy automaton (TSTFA) in the area of formation control to solve the target searching problem. The TS fuzzy system is used to change the formation through the modifications in the states of the automaton. This change does not only switch the rules and therefore the state of each robot, but also the controllers and cost functions. This approach amplifies the versatility of the formation of mobile robots in the target searching problem. In this paper, the TS-TFA is presented and its implications in the formation are explained. Simulations and results with real robot are presented where it can be noticed that the formation is broken to maximize the perception range based on each robot’s observation of a possible target. Finally this work is concluded in the last section.Submitted by Santiago Fabio (fabio.ssantiago@hotmail.com) on 2013-07-03T19:30:04Z No. of bitstreams: 1 77777777777777777.pdf: 1610150 bytes, checksum: 3e7204acaccd1f7b04bc5404097d26b6 (MD5)Approved for entry into archive by Rodrigo Meirelles (rodrigomei@ufba.br) on 2013-10-31T18:05:24Z (GMT) No. of bitstreams: 1 77777777777777777.pdf: 1610150 bytes, checksum: 3e7204acaccd1f7b04bc5404097d26b6 (MD5)Made available in DSpace on 2013-10-31T18:05:24Z (GMT). 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dc.title.pt_BR.fl_str_mv Intelligent state changing applied to multi-robot systems
dc.title.alternative.pt_BR.fl_str_mv Robotics and Autonomous Systems
title Intelligent state changing applied to multi-robot systems
spellingShingle Intelligent state changing applied to multi-robot systems
Nascimento, Tiago Pereira do
Fuzzy automaton
Multi-robot systems
Mobile robots
title_short Intelligent state changing applied to multi-robot systems
title_full Intelligent state changing applied to multi-robot systems
title_fullStr Intelligent state changing applied to multi-robot systems
title_full_unstemmed Intelligent state changing applied to multi-robot systems
title_sort Intelligent state changing applied to multi-robot systems
author Nascimento, Tiago Pereira do
author_facet Nascimento, Tiago Pereira do
Moreira, António Paulo
Conceição, André G. Scolari
Bonarini, Andrea
author_role author
author2 Moreira, António Paulo
Conceição, André G. Scolari
Bonarini, Andrea
author2_role author
author
author
dc.contributor.author.fl_str_mv Nascimento, Tiago Pereira do
Moreira, António Paulo
Conceição, André G. Scolari
Bonarini, Andrea
Nascimento, Tiago Pereira do
Moreira, António Paulo
Conceição, André G. Scolari
Bonarini, Andrea
dc.subject.por.fl_str_mv Fuzzy automaton
Multi-robot systems
Mobile robots
topic Fuzzy automaton
Multi-robot systems
Mobile robots
description Texto completo. Acesso restrito. p. 115–124
publishDate 2013
dc.date.accessioned.fl_str_mv 2013-10-31T18:05:24Z
dc.date.issued.fl_str_mv 2013
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://repositorio.ufba.br/ri/handle/ri/13426
dc.identifier.issn.none.fl_str_mv 0921-8890
dc.identifier.number.pt_BR.fl_str_mv v. 61, n. 2
identifier_str_mv 0921-8890
v. 61, n. 2
url http://repositorio.ufba.br/ri/handle/ri/13426
dc.language.iso.fl_str_mv eng
language eng
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Robotics and Autonomous Systems
publisher.none.fl_str_mv Robotics and Autonomous Systems
dc.source.pt_BR.fl_str_mv http://dx.doi.org/10.1016/j.robot.2012.10.011
dc.source.none.fl_str_mv reponame:Repositório Institucional da UFBA
instname:Universidade Federal da Bahia (UFBA)
instacron:UFBA
instname_str Universidade Federal da Bahia (UFBA)
instacron_str UFBA
institution UFBA
reponame_str Repositório Institucional da UFBA
collection Repositório Institucional da UFBA
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