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- W4313532786 abstract "This paper considers assessing the mechanical motion optimality of modular robotic systems (RS) over different types surfaces with complex topography. Modular robotic systems have a variability of possible formations and motion algorithms, so the RS motion efficiency, depending on the complexity of different surfaces topography, can vary significantly between formations Choosing the formations in which the RS motion will be the most effective on a particular surface will improve the total functioning quality of this system. To this end the method for assessing the optimality of mechanical motion of a modular system on complex surfaces is proposed. The method is based on the determining the deviations from the specified speed and acceleration of modular system in the sections of given trajectory, as well as on estimating the deviation from this trajectory. For the experimental assessing the optimality of mechanical motion of the RS, simulations of the formations’ motion of this system over various types of surfaces were performed followed by the application of the developed method. Expert estimates of the RS motion were also obtained for all simulations. As a result, it was revealed that the expert estimates in most cases coincide with the results of the proposed method, and the averaged relative deviation between these estimates did not exceed 0.32. According to the results obtained, it can be concluded that the proposed method has a high potential for practical application in performing evaluation of the optimality of mechanical motion of modular RS formations." @default.
- W4313532786 created "2023-01-06" @default.
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- W4313532786 date "2023-01-01" @default.
- W4313532786 modified "2023-09-27" @default.
- W4313532786 title "Method for Assessing Optimality of Mechanical Motion of Modular RS Formations Over Different Sections of Terrain, Represented by Complex Surfaces" @default.
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- W4313532786 doi "https://doi.org/10.1007/978-3-031-21438-7_65" @default.
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