KR20170003624A - 로봇 군집의 제어 - Google Patents

로봇 군집의 제어 Download PDF

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Publication number
KR20170003624A
KR20170003624A KR1020167033914A KR20167033914A KR20170003624A KR 20170003624 A KR20170003624 A KR 20170003624A KR 1020167033914 A KR1020167033914 A KR 1020167033914A KR 20167033914 A KR20167033914 A KR 20167033914A KR 20170003624 A KR20170003624 A KR 20170003624A
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KR
South Korea
Prior art keywords
robot
processor
adjacent
density function
displacement vector
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
KR1020167033914A
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English (en)
Korean (ko)
Inventor
매그너스 에거스테트
이성건
얀시 디아즈-머케이도
슴리티 초프라
Original Assignee
조지아 테크 리서치 코오포레이션
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 조지아 테크 리서치 코오포레이션 filed Critical 조지아 테크 리서치 코오포레이션
Publication of KR20170003624A publication Critical patent/KR20170003624A/ko
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/06—Control stands, e.g. consoles, switchboards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0027—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement involving a plurality of vehicles, e.g. fleet or convoy travelling
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G05D1/222—Remote-control arrangements operated by humans
    • G05D1/223—Command input arrangements on the remote controller, e.g. joysticks or touch screens
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39153—Human supervisory control of swarm

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Computing Systems (AREA)
  • Mathematical Physics (AREA)
  • Theoretical Computer Science (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)
  • Feedback Control In General (AREA)
  • Computer Networks & Wireless Communication (AREA)
KR1020167033914A 2014-05-05 2015-05-05 로봇 군집의 제어 Ceased KR20170003624A (ko)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201461988345P 2014-05-05 2014-05-05
US201461988817P 2014-05-05 2014-05-05
US61/988,345 2014-05-05
US61/988,817 2014-05-05
PCT/US2015/029211 WO2015171593A1 (en) 2014-05-05 2015-05-05 Control of swarming robots

Publications (1)

Publication Number Publication Date
KR20170003624A true KR20170003624A (ko) 2017-01-09

Family

ID=54392896

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020167033914A Ceased KR20170003624A (ko) 2014-05-05 2015-05-05 로봇 군집의 제어

Country Status (5)

Country Link
US (1) US10537996B2 (cg-RX-API-DMAC7.html)
EP (1) EP3140084A4 (cg-RX-API-DMAC7.html)
JP (1) JP6700198B2 (cg-RX-API-DMAC7.html)
KR (1) KR20170003624A (cg-RX-API-DMAC7.html)
WO (1) WO2015171593A1 (cg-RX-API-DMAC7.html)

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* Cited by examiner, † Cited by third party
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KR20230055067A (ko) 2021-10-18 2023-04-25 에이치엘만도 주식회사 군집 로봇 제어 장치 및 방법
US11707175B2 (en) 2018-01-03 2023-07-25 Samsung Electronics Co., Ltd. Moving apparatus for cleaning, collaborative cleaning system, and method of controlling the same
KR20240079311A (ko) * 2022-11-28 2024-06-05 최호인 농업용 로봇을 활용한 군집 농작업 시스템 및 그 제어방법

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CN107791280B (zh) * 2016-09-05 2020-10-23 深圳光启合众科技有限公司 智能个体的行进控制方法及装置、机器人
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CN107562047B (zh) * 2017-08-02 2020-11-17 中国科学院自动化研究所 无人驾驶设备编队方法以及存储装置、处理装置
JP7069632B2 (ja) * 2017-10-16 2022-05-18 株式会社豊田中央研究所 制御装置、移動体、及び移動体の分散制御プログラム
JP7076200B2 (ja) * 2017-12-04 2022-05-27 株式会社Subaru 移動体の動作制御装置、移動体の動作制御方法及び移動体の動作制御プログラム
JP7135322B2 (ja) * 2018-01-05 2022-09-13 株式会社豊田中央研究所 移動体の監視対象追従制御装置、監視対象追従制御プログラム
JP7031312B2 (ja) * 2018-01-05 2022-03-08 株式会社豊田中央研究所 移動体の監視対象監視制御装置、監視対象監視制御プログラム
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CN109739249B (zh) * 2018-09-06 2022-04-19 中国船舶工业系统工程研究院 一种速度状态缺失条件下的多uuv编队协调控制方法
CN113168553A (zh) * 2018-09-28 2021-07-23 英特尔公司 机器人移动设备及相关方法
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WO2020166371A1 (ja) * 2019-02-15 2020-08-20 ソニー株式会社 移動体、移動方法
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CN110333724B (zh) * 2019-07-22 2022-03-15 西北工业大学 一种未知环境中多机器人群体运动的控制方法
JP7046275B2 (ja) * 2019-08-05 2022-04-01 三菱電機株式会社 制御装置、および、制御方法
JP7066068B2 (ja) * 2019-09-18 2022-05-12 三菱電機株式会社 制御装置、制御方法、制御プログラム
JP6742561B1 (ja) * 2019-10-08 2020-08-19 三菱電機株式会社 自律分散制御システム
CN112700025B (zh) * 2019-10-22 2024-07-16 北京京东振世信息技术有限公司 覆盖区域的分配方法及装置、存储介质、电子设备
WO2021095189A1 (ja) 2019-11-14 2021-05-20 日本電気株式会社 無人機制御装置、無人機制御システム、無人機制御方法及び記録媒体
US20230240572A1 (en) * 2020-07-03 2023-08-03 Nippon Telegraph And Telephone Corporation Psychological stress calculation device, psychological stress calculation method, and program
CN111958588A (zh) * 2020-07-06 2020-11-20 佛山科学技术学院 一种多机器人数据同步的控制方法及系统
JP7436401B2 (ja) * 2021-01-18 2024-02-21 株式会社日立製作所 分散協調システム
US11812280B2 (en) * 2021-06-01 2023-11-07 Kabushiki Kaisha Toshiba Swarm control algorithm to maintain mesh connectivity while assessing and optimizing areal coverage in unknown complex environments
CN113479344B (zh) * 2021-07-07 2022-09-23 西北工业大学 一种可快速解算的分布式卫星姿态协同控制方法
CN113792843B (zh) * 2021-08-19 2023-07-25 中国人民解放军军事科学院国防科技创新研究院 一种在行为克隆框架下基于群体方向一致性和稳定性的蜂拥涌现控制方法
CN114310898B (zh) * 2022-01-07 2022-09-06 深圳威洛博机器人有限公司 一种机器手同步控制系统及控制方法
US12337463B2 (en) * 2022-02-19 2025-06-24 Accelerated Systems Inc. Robot swarm
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US11707175B2 (en) 2018-01-03 2023-07-25 Samsung Electronics Co., Ltd. Moving apparatus for cleaning, collaborative cleaning system, and method of controlling the same
KR20230055067A (ko) 2021-10-18 2023-04-25 에이치엘만도 주식회사 군집 로봇 제어 장치 및 방법
KR20240079311A (ko) * 2022-11-28 2024-06-05 최호인 농업용 로봇을 활용한 군집 농작업 시스템 및 그 제어방법

Also Published As

Publication number Publication date
JP6700198B2 (ja) 2020-05-27
WO2015171593A1 (en) 2015-11-12
US10537996B2 (en) 2020-01-21
JP2017519279A (ja) 2017-07-13
US20170072565A1 (en) 2017-03-16
EP3140084A1 (en) 2017-03-15
EP3140084A4 (en) 2018-04-04

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