Autonomous Navigation of Multiple Robots with Sensing and Communication Constraints Based on Mixed Reality
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Autonomous Navigation of Multiple Robots with Sensing and Communication Constraints Based on Mixed Reality João Paulo Lima Silva de Almeida1 · Renan Taizo Nakashima2 · Flávio Neves-Jr2 · André Schneider de Oliveira2 · Lúcia Valéria Ramos de Arruda2 Received: 5 November 2019 / Revised: 29 April 2020 / Accepted: 22 July 2020 © Brazilian Society for Automatics–SBA 2020
Abstract This paper presents a robotic navigation system that uses mixed reality concepts to develop sensing and communication virtual devices, based on the visual localization of the robot in the environment. The main objective of the navigation system is to provide conditions for the use of very simple robots with severe limitations on the mentioned peripheral devices for simulation, analysis and test of multi-robot applications. In an experiment with real robots, each one receives its virtual navigation skills in an independent way from the tool that emulates the function of such peripherals. Thus, the behavior of a group of robots, independently commanded, is implemented in the virtual environment and accomplished in the real world. An experiment composed by real multiple Sphero robots executing an exploratory task within an unknown dynamic environment is carried out to validate the proposed navigation system. The use of mixed reality concepts allows an easy implementation of cooperation mechanisms based on indirect communication skill and fuzzy controllers for the robots’ movement. The results confirm the feasibility of the proposed autonomous navigation system. Keywords Multi-robot systems · Mixed reality · Indirect communication · Autonomous navigation
1 Introduction
The authors acknowledge financial support from Brazilian Research Council (CNPq): Grants 305816/2014-4 and 309119/2015-4. Electronic supplementary material The online version of this article (https://doi.org/10.1007/s40313-020-00629-1) contains supplementary material, which is available to authorized users.
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João Paulo Lima Silva de Almeida [email protected] Renan Taizo Nakashima [email protected] Flávio Neves-Jr [email protected] André Schneider de Oliveira [email protected] Lúcia Valéria Ramos de Arruda [email protected]
1
Federal Institute of Paraná (IFPR), Jacarezinho, Paraná, Brazil
2
Federal University of Technology - Paraná (UTFPR), Curitiba, Brazil
Multi-robot systems (MRSs) are an active research field of robotic applications, where multiple robots are used for cooperative tasks, and they are able to achieve a common objective by means of local objectives within a shared environment (Sabattini et al. 2017). A successful design of a MRS requires debugging, testing and validating steps. In general, these design steps encompass exhaustive simulated and real experiments. Simulations provide a flexible implementation with more controlled environment conditions in which several situations (e.g., experiments with increased levels of complexity) can be easily essayed and also consuming less experiment time. Otherwise, experiments involving real
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