Related papers: A New Collision Avoidance Fiber Assignment Algorit…
Robotics have recently contributed to cosmological spectroscopy to automatically obtain the map of the observable universe using robotic fiber positioners. For this purpose, an assignment algorithm is required to assign each robotic fiber…
We present an optimized algorithm for assigning fibers to targets in next-generation fiber-fed multi-object spectrographs. The method, that we named draining algorithm, ensures that the maximum number of targets in a given target field is…
We present a conceptual design for a fiber positioning system for multi-object high-resolution spectroscopy, designed to be compatible with the upcoming large telescopes with a wide field of view. The design incorporates multiple…
Some of the next generation massive spectroscopic survey projects, such as DESI and PFS, plan to use thousands of fiber positioner robots packed at a focal plane to quickly move in parallel the fiber-ends from the previous to the next…
Robotic fiber positioner (RFP) arrays are becoming heavily adopted in wide field massively multiplexed spectroscopic survey instruments. RFP arrays decrease nightly operational overheads through rapid reconfiguration between fields and…
Robotic fiber positioners play a vital role in the generation of massive spectroscopic surveys. The more complete a positioners set is coordinated, the more information its corresponding spectrograph receives during an observation. The…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
Context. Several new multi-object spectrographs are currently planned or under construction that are capable of observing thousands of Galactic and extragalactic objects simultaneously. Aims. In this paper we present a probabilistic…
The fundamental goal assignment problem for a multi-robot application aims to assign a unique goal to each robot while ensuring collision-free paths, minimizing the total movement cost. A plausible algorithmic solution to this NP-hard…
In this paper, we solve the complete coordination problem of robotic fiber positioners using supervisory control theory. In particular, we model positioners and their behavioral specifications as discrete-event systems by the discretization…
The arrangement of the fiber positioning units in LAMOST focal plane may lead to the collisions during the fiber allocation. To avoid these collisions, the soft protection system has to abandon some targets located in the overlapped field…
The safe and efficient operation of Autonomous Mobile Robots (AMRs) in complex environments, such as manufacturing, logistics, and agriculture, necessitates accurate multi-object tracking and predictive collision avoidance. This paper…
The next generation of large-scale spectroscopic survey experiments such as DESI, will use thousands of fiber positioner robots packed on a focal plate. In order to maximize the observing time with this robotic system we need to move in…
This paper addresses security challenges in multi-robot systems (MRS) where adversaries may compromise robot control, risking unauthorized access to forbidden areas. We propose a novel multi-robot optimal planning algorithm that integrates…
This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…
When designing multispectral imaging systems for classifying different spectra it is necessary to choose a small number of filters from a set with several hundred different ones. Tackling this problem by full search leads to a tremendous…
We can only allow human-robot-cooperation in a common work cell if the human integrity is guaranteed. A surveillance system with multiple cameras can detect collisions without contact to the human collaborator. A failure safe system needs…
To address the need for high-precision localization of climbing robots in complex high-altitude environments, this paper proposes a multi-sensor fusion system that overcomes the limitations of single-sensor approaches. Firstly, the…
We introduce a novel strategy for multi-robot sorting of waste objects using Reinforcement Learning. Our focus lies on finding optimal picking strategies that facilitate an effective coordination of a multi-robot system, subject to…
Collaborative multi-robot perception provides multiple views of an environment, offering varying perspectives to collaboratively understand the environment even when individual robots have poor points of view or when occlusions are caused…