Multi-Robot Systems Trends and Development 2010 Part 1 pdf

... Hung Chapter 9 Chapter 10 Chapter 11 Chapter 12 Chapter 13 Chapter 14 Chapter 15 Chapter 16 Part 2 Chapter 17 Chapter 18 Chapter 19 Chapter 20 Multi-Robot Systems, Trends and Development 28 regarded ... denotes target and S starting point. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 0 x y o Fig. 4. Sonar distribution and its identity coor...

Ngày tải lên: 12/08/2014, 02:23

... than 10 %. RobotManipulators, Trends and Development1 6 randomization and a forgetting factor are introduced for improvement of finding the global optimum (Krus et al., 19 92; Ölvander, 20 01) . ... 249 DorinPopescu,DanSelişteanu,CosminIonete,MonicaRoman and LiviaPopescu 12 . ControlofFlexibleManipulators.Theory and Practice 267 Pereira,E.;Becedas,J.;Payo,I.;Ramos,...

Ngày tải lên: 11/08/2014, 23:22

... 0.00 0.20 0.40 0.60 0.80 1. 00 1. 20 12 3456 Robot 1 1.00 0.98 0.99 1. 01 0.97 1. 05 Robot 2 1. 02 1. 01 1.02 0.99 0.92 Robot 3 0.99 0.93 0.94 0.98 Robot 4 1. 02 1. 13 1. 18 Robot 5 0.95 0.96 Robot 6 0.92 Number ... Unknown Regions 12 7 0.00 0.20 0.40 0.60 0.80 1. 00 1. 20 12 345 Robot 1 1.00 1. 02 0.99 1. 00 0.85 Robot 2 0.98 0.97 0.93 0.85 Robot 3 1. 04 1. 01...

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... selecting 10 PCA components. GRID 2 Vectors 5 Vectors 10 Vectors 20 vectors 10 x10 0 .15 05 0 .14 92 0 .14 97 0 .14 97 20x20 0 .12 94 0 .12 93 0 .13 00 0 .12 95 30x30 0 .12 78 0 .12 80 0 .12 71 0 .12 73 40x40 0 .12 72 ... Inventory Product Inventory 1 2 3 4 10 6 8 9 5 11 12 13 14 15 16 17 18 19 20 21 22 24 23 25 26 27 28 29 30 31 32 33 7 Probabilistic Map...

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... Developments 15 10 −5 0 5 10 15 20 15 10 −5 0 5 10 15 20 X Y 0 5 10 15 20 25 30 35 40 45 50 −20 10 0 10 20 t (sec) x EIF aggregate state estimation 0 5 10 15 20 25 30 35 40 45 50 −20 10 0 10 20 t ... (continuous line) and target’s reference path (dashed line). 15 10 −5 0 5 10 15 20 −40 −30 −20 10 0 10 20 X Y 0 5 10 15 15 10 −5 0 5 t (sec) x EIF aggregate...

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... χ MOM j (Eq. 15 ) and average PMW per machine per time-step, χ MOM avg (Eq. 16 ) . 380 Multi-Robot Systems, Trends and Development Multi-Robot Systems, Trends and Development 364 (c) Fig. 16 b-c. ... 1 111 , ( ) max ( , , , ) n n aa Vs Qsa a = (29) The update rule for team Q-learning can be written: 11 11 11 ( , , , ) (1 ) ( , , , ) (()) nn Qsa a Q...

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... 3, 2, 1 2, 1, 3 R 1 1, 1, 1 1, 1, 2 R 9 3, 1, 1 2, 3, 2 R 2 2, 1, 2 2, 3, 1 R 10 2, 0, 1 1, 4, 3 R 3 1, 2, 1 3, 2, 1 R 11 1, 3, 3 2, 2, 1 R 4 0, 1, 1 1, 1, 1 R 12 2, 1, 3 1, 3, 1 R 5 ... 11 0 11 1 44444444 +−−++−− The above result means that the probabilities to represent the states 000 , 0 01 , 010 , 011 , 10 0 , 10 1 , 11 0 ,...

Ngày tải lên: 12/08/2014, 02:23

... Representing and Characterizing the Dynamics of Multi-Robot Systems 5 0 5 10 15 0 500 10 00 15 00 2000 2500 3000 3500 Autonomy (minute) Time step (one-hour run) Robot 1 2 3 (a) 0 5 10 15 0 500 10 00 15 00 ... 1 2 q q ∂ ⎡⎤ ⎢⎥ ∂ ∂ ⎢⎥ = ⎢⎥ ∂ ∂ ⎢⎥ ∂ ⎣⎦ M M M q ( 31) () 11 2 1 c2 12 2 1 c2 21 2 1 22 22 2 12 22 1 c sin sin sin 0 m m m m Vmll Vmll Vmll V θθ θ θ...

Ngày tải lên: 12/08/2014, 02:23

... 0 1 0 1. 25664, 0 1 0 1. 5708, 0 1 0 1. 88496, 0 1 0 2 .19 911 , 0 1 0 2. 513 27, 0 1 0 2.82743, 0 1 0 3 .14 159, 0 1 0 3.45575, 0 1 0 3.769 91, 0 1 0 4.08407, 0 1 0 4.39823, 0 1 0 ... 0 1 0 1. 25664, 0 1 0 1. 5708, 0 1 0 1. 88496, 0 1 0 2 .19 911 , 0 1 0 2. 513 27, 0 1 0 2.82743, 0 1 0 3 .14 159, 0 1 0 3.45575,...

Ngày tải lên: 11/08/2014, 23:22

... 10 12 ,  = 0 .1) A L7 =       − 816 .9997 12 .5050 − 51. 0842 −64.08 61 31. 8003 23.8482 −772.7024 14 9 .16 21 122.7602 −75.3 718 −3.0 714 13 9.9543 − 412 .14 21 3 61. 2027 17 6.7926 19 3.3 011 12 8.28 31 ... 10 12 ,  = 0 .1) A L7 =       − 816 .9997 12 .5050 − 51. 0842 −64.08 61 31. 8003 23.8482 −772.7024 14 9 .16 21 122.7602 −75.3 718 −3.0 714 13 9.9543...

Ngày tải lên: 11/08/2014, 23:22