![]() The communication protocol was designed to minimize loss of packets, and average transfer delays are within tolerance limits for practical applications. Extensive experimental results were obtained with real internet communication and virtual testbeds running in each lab. ![]() A dual-testbed design is developed involving real robots and remote network communication, performing a cooperative swarming algorithm based on a modified Morse Potential. The goal is to have all robots properly follow a leader defined on one of the testbeds, while maintaining non-overlapping positions within each swarm and between swarms, assuming they are superimposed in the same virtual space. The results showed the effectiveness of the proposed technique.read more read lessĪbstract: We consider cooperative control of robots involving two different testbed systems in remote locations in different time zones, with communication on the internet. The new technique is intensively tested with different environments. More importantly, the proposed technique obviates the need for environment segmentation complex procedures which is adopted in some previous important research works. And secondly, it aims at reducing computations complexity required by target selection and path planning tasks. ![]() To achieve this, a new procedure to assign the next target location for each individual robot is proposed. In particular, the new technique has two main objectives: firstly, it aims at reducing the exploration time and the traveled distance by reducing the overlap which takes place when a certain area in the environment is explored by more than one robot. A new exploration technique is proposed to increase the exploration efficiency. Pitch_input = k_pitch_p * CLAMP(pitch, -1.0, 1.Abstract: In this paper, the exploration and map-building of unknown environment by a team of mobile robots is intensively investigated. Roll_input = k_roll_p * CLAMP(roll, -1.0, 1.0) + roll_acceleration +i Actuate the motors taking into consideration all the computed inputs. Wb_motor_set_velocity(rear_right_motor, rear_right_motor_input) Wb_motor_set_velocity(rear_left_motor, -rear_left_motor_input) Wb_motor_set_velocity(front_right_motor, -front_right_motor_input) ![]() Wb_motor_set_velocity(front_left_motor, front_left_motor_input) So can anyone tell me where I went wrong and if I want to create a delay between drone movements, what should I do? This is the code for movements that I have tried so far: // Actuate the motors taking into consideration all the computed inputs.ĭouble front_left_motor_input = k_vertical_thrust + vertical_input - roll_input - pitch_input +ĭouble front_right_motor_input = k_vertical_thrust + vertical_input + roll_input - pitch_input -ĭouble rear_left_motor_input = k_vertical_thrust + vertical_input - roll_input + pitch_input -ĭouble rear_right_motor_input = k_vertical_thrust + vertical_input + roll_input + pitch_input + I have tried to create that delay by using this code:` // Wait 5 seconds.īut it only works when left outside the control loop, when I use it inside the control loop`, it affects the drone's performance, the drone gets unbalanced and flies wildly. I want my drone to takeoff and after reaching the desired altitude, it will remain at that position for about 5 seconds before initiating some other moves automatically. I'm using Webots software to simulate a drone. ![]()
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