Hardware schemes for smarter indoor robotics to prevent the backing crash framework using field programmable gate array-based multi-robots

The use of smart indoor robotics services is gradually increasing in real-time scenarios. This paper presents a versatile approach to multi-robot backing crash prevention in indoor environments, using hardware schemes to achieve greater competence. Here, sensor fusion was initially used to analyze t...

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Main Authors: Basha, Mudasar, Siva Kumar, Munuswamy, Chinnaiah, Mangali Chinna, Lam, Siew-Kei, Srikanthan, Thambipillai, Narambhatla, Janardhan, Dodde, Hari Krishna, Dubey, Sanjay
Other Authors: College of Computing and Data Science
Format: Article
Language:English
Published: 2024
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Online Access:https://hdl.handle.net/10356/178522
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-1785222024-06-25T06:41:55Z Hardware schemes for smarter indoor robotics to prevent the backing crash framework using field programmable gate array-based multi-robots Basha, Mudasar Siva Kumar, Munuswamy Chinnaiah, Mangali Chinna Lam, Siew-Kei Srikanthan, Thambipillai Narambhatla, Janardhan Dodde, Hari Krishna Dubey, Sanjay College of Computing and Data Science School of Computer Science and Engineering Computer and Information Science Multi-robot Backing crash prevention The use of smart indoor robotics services is gradually increasing in real-time scenarios. This paper presents a versatile approach to multi-robot backing crash prevention in indoor environments, using hardware schemes to achieve greater competence. Here, sensor fusion was initially used to analyze the state of multi-robots and their orientation within a static or dynamic scenario. The proposed novel hardware scheme-based framework integrates both static and dynamic scenarios for the execution of backing crash prevention. A round-robin (RR) scheduling algorithm was composed for the static scenario. Dynamic backing crash prevention was deployed by embedding a first come, first served (FCFS) scheduling algorithm. The behavioral control mechanism of the distributed multi-robots was integrated with FCFS and adaptive cruise control (ACC) scheduling algorithms. The integration of multiple algorithms is a challenging task for smarter indoor robotics, and the Xilinx-based partial reconfiguration method was deployed to avoid computational issues with multiple algorithms during the run-time. These methods were coded with Verilog HDL and validated using an FPGA (Zynq)-based multi-robot system. Published version 2024-06-25T06:41:55Z 2024-06-25T06:41:55Z 2024 Journal Article Basha, M., Siva Kumar, M., Chinnaiah, M. C., Lam, S., Srikanthan, T., Narambhatla, J., Dodde, H. K. & Dubey, S. (2024). Hardware schemes for smarter indoor robotics to prevent the backing crash framework using field programmable gate array-based multi-robots. Sensors, 24(6), 1724-. https://dx.doi.org/10.3390/s24061724 1424-8220 https://hdl.handle.net/10356/178522 10.3390/s24061724 38543987 6 24 1724 en Sensors © 2024 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). application/pdf
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic Computer and Information Science
Multi-robot
Backing crash prevention
spellingShingle Computer and Information Science
Multi-robot
Backing crash prevention
Basha, Mudasar
Siva Kumar, Munuswamy
Chinnaiah, Mangali Chinna
Lam, Siew-Kei
Srikanthan, Thambipillai
Narambhatla, Janardhan
Dodde, Hari Krishna
Dubey, Sanjay
Hardware schemes for smarter indoor robotics to prevent the backing crash framework using field programmable gate array-based multi-robots
description The use of smart indoor robotics services is gradually increasing in real-time scenarios. This paper presents a versatile approach to multi-robot backing crash prevention in indoor environments, using hardware schemes to achieve greater competence. Here, sensor fusion was initially used to analyze the state of multi-robots and their orientation within a static or dynamic scenario. The proposed novel hardware scheme-based framework integrates both static and dynamic scenarios for the execution of backing crash prevention. A round-robin (RR) scheduling algorithm was composed for the static scenario. Dynamic backing crash prevention was deployed by embedding a first come, first served (FCFS) scheduling algorithm. The behavioral control mechanism of the distributed multi-robots was integrated with FCFS and adaptive cruise control (ACC) scheduling algorithms. The integration of multiple algorithms is a challenging task for smarter indoor robotics, and the Xilinx-based partial reconfiguration method was deployed to avoid computational issues with multiple algorithms during the run-time. These methods were coded with Verilog HDL and validated using an FPGA (Zynq)-based multi-robot system.
author2 College of Computing and Data Science
author_facet College of Computing and Data Science
Basha, Mudasar
Siva Kumar, Munuswamy
Chinnaiah, Mangali Chinna
Lam, Siew-Kei
Srikanthan, Thambipillai
Narambhatla, Janardhan
Dodde, Hari Krishna
Dubey, Sanjay
format Article
author Basha, Mudasar
Siva Kumar, Munuswamy
Chinnaiah, Mangali Chinna
Lam, Siew-Kei
Srikanthan, Thambipillai
Narambhatla, Janardhan
Dodde, Hari Krishna
Dubey, Sanjay
author_sort Basha, Mudasar
title Hardware schemes for smarter indoor robotics to prevent the backing crash framework using field programmable gate array-based multi-robots
title_short Hardware schemes for smarter indoor robotics to prevent the backing crash framework using field programmable gate array-based multi-robots
title_full Hardware schemes for smarter indoor robotics to prevent the backing crash framework using field programmable gate array-based multi-robots
title_fullStr Hardware schemes for smarter indoor robotics to prevent the backing crash framework using field programmable gate array-based multi-robots
title_full_unstemmed Hardware schemes for smarter indoor robotics to prevent the backing crash framework using field programmable gate array-based multi-robots
title_sort hardware schemes for smarter indoor robotics to prevent the backing crash framework using field programmable gate array-based multi-robots
publishDate 2024
url https://hdl.handle.net/10356/178522
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