This paper presents a multi-layer scheme to control a formation of three mobile robots. Each layer works as an independent module, dealing with a specific part of the problem of formation control, thus giving to the system more flexibility. In order to reduce formation errors, the proposed architecture includes a layer which performs an adaptive dynamic compensation, using a robust updating law, which compensates for each robot dynamics. The controller is able to guide the robots to the desired formation, including the possibility of time-varying position and/or shape. Stability analysis is performed for the closed-loop system, and the result is that the formation errors are ultimately bounded. Finally, simulation results for a group of three unicycle-like mobile robots are presented, which show that system performance is improved when the adaptive dynamic compensation layer is included in the formation control scheme. © 2009 IEEE.
This review is the first step in a long-term research project exploring how social robotics and AI-generated content can contribute to the creative experiences of older adults, with a focus on collaborative drawing and painting. We systematically searched and selected literature on human-robot co-creativity, and analyzed articles to identify methods and strategies for researching co-creative robotics. We found that none of the studies involved older adults, which shows the gap in the literature for this often involved participant group in robotics research. The analyzed literature provides valuable insights into the design of human-robot co-creativity and informs a research agenda to further investigate the topic with older adults. We argue that future research should focus on ecological and developmental perspectives on creativity, on how system behavior can be aligned with the values of older adults, and on the system structures that support this best.
An important issue in the field of motion control of wheeled mobile robots is that the design of most controllers is based only on the robot’s kinematics. However, when high-speed movements and/or heavy load transportation are required, it becomes essential to consider the robot dynamics as well. The control signals generated by most dynamic controllers reported in the literature are torques or voltages for the robot motors, while commercial robots usually accept velocity commands. In this context, we present a velocity-based dynamic model for differential drive mobile robots that also includes the dynamics of the robot actuators. Such model has linear and angular velocities as inputs and has been included in Peter Corke’s Robotics Toolbox for MATLAB, therefore it can be easily integrated into simulation systems that have been built for the unicycle kinematics. We demonstrate that the proposed dynamic model has useful mathematical properties. We also present an application of such model on the design of an adaptive dynamic controller and the stability analysis of the complete system, while applying the proposed model properties. Finally, we show some simulation and experimental results and discuss the advantages and limitations of the proposed model.
Flying insects like dragonflies, flies, bumblebees are able to couple hovering ability with the ability for a quick transition to forward flight. Therefore, they inspire us to investigate the application of swarms of flapping-wing mini-drones in horticulture. The production and trading of agricultural/horticultural goods account for the 9% of the Dutch gross domestic product. A significant part of the horticultural products are grown in greenhouses whose extension is becoming larger year by year. Swarms of bio-inspired mini-drones can be used in applications such as monitoring and control: the analysis of the data collected enables the greenhouse growers to achieve the optimal conditions for the plants health and thus a high productivity. Moreover, the bio-inspired mini-drones can detect eventual pest onset at plant level that leads to a strong reduction of chemicals utilization and an improvement of the food quality. The realization of these mini-drones is a multidisciplinary challenge as it requires a cross-domain collaboration between biologists, entomologists and engineers with expertise in robotics, mechanics, aerodynamics, electronics, etc. Moreover a co-creation based collaboration will be established with all the stakeholders involved. With this approach we can integrate technical and social-economic aspects and facilitate the adoption of this new technology that will make the Dutch horticulture industry more resilient and sustainable.
Agricultural/horticultural products account for 9% of Dutch gross domestic product. Yearly expansion of production involves major challenges concerning labour costs and plant health control. For growers, one of the most urgent problems is pest detection, as pests cause up to 10% harvest loss, while the use of chemicals is increasingly prohibited. For consumers, food safety is increasingly important. A potential solution for both challenges is frequent and automated pest monitoring. Although technological developments such as propeller-based drones and robotic arms are in full swing, these are not suitable for vertical horticulture (e.g. tomatoes, cucumbers). A better solution for less labour intensive pest detection in vertical crop horticulture, is a bio-inspired FW-MAV: Flapping Wings Micro Aerial Vehicle. Within this project we will develop tiny FW-MAVs inspired by insect agility, with high manoeuvrability for close plant inspection, even through leaves without damage. This project focusses on technical design, testing and prototyping of FW-MAV and on autonomous flight through vertically growing crops in greenhouses. The three biggest technical challenges for FW-MAV development are: 1) size, lower flight speed and hovering; 2) Flight time; and 3) Energy efficiency. The greenhouse environment and pest detection functionality pose additional challenges such as autonomous flight, high manoeuvrability, vertical take-off/landing, payload of sensors and other equipment. All of this is a multidisciplinary challenge requiring cross-domain collaboration between several partners, such as growers, biologists, entomologists and engineers with expertise in robotics, mechanics, aerodynamics, electronics, etc. In this project a co-creation based collaboration is established with all stakeholders involved, integrating technical and biological aspects.
