Temporal Coordination among Two Vision-Guided Vehicles: A Nonlinear Dynamical Systems Approach

摘要: The field of multiple autonomous robots cooperating is emerging as a key technology in mobile and currently under intense effort. use multi-robots synchronized, coordinated or production processes where there high requirement on flexibility manoeuvrability highly desirable. This an option to be considered complex integrated including assembling, transporting, painting welding tasks. Broadly, the applied general approaches for controlling coordinating movement several that cooperatively perform task illustrate major trade-off control coordination multi-robots: between precision feasibility necessity global information communication capacity. Further, robot systems working external synchronization, e.g master-slave schemes mutual e.g. cooperative schemes, imply design suitable controllers achieve required synchronous motion. work presented this paper, combines insights computer vision, dynamical theory, computational neuroscience robotics. We aim at generating online flexible timed behavior stably adapted changing visual, infrared proprioceptive sensory information, such different entities may cooperative/coordinated behavior. As first attempt, we do not take into account issues. apply attractor based dynamics recent studies have shown theory helps synchronize reduces requirements determining identical parameters across coupled entities. inherent advantages from engineering viewpoint are huge, since system released recalculating main motivation once solutions problem found, they can search rescue operations, landing removal, remote terrain space exploration, also satellites unmanned aerial vehicles. In domain, achievement able exhibit intelligent behaviour issue. approach demonstrated cooperation among two vision-guided reach visually acquired goal, while avoiding obstacles, without O pe n A cc es s D ab e w .ite ch lin e. co m