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  • 1. Amirhossein Aghamohammadi Mei Choo Ang Marzieh Mogharrebi
  • 2. Military Industrial Commercial applications such as Homeland Defence, Law Enforcement Nuclear Biological and Chemical hazardous environments. Search, rescue, surveillance, and reconnaissance missions
  • 3. How to rescue the people who are located on populated area, since the area in inaccessible by human? How fast we can search the target area of interest and locate the bomb, without risking human lives?
  • 4. Collaborating robots
  • 5. • It is very effective for completing difficult missions on time. • keeping humans out of harm’s way and letting them concentrate on higher level tasks • It is a cost effective and force multiplier approach.
  • 6. How to control the heterogeneous robots in collaborative tasks without inter-communication between them?
  • 7.  Inspired solution from segmentation TRIZ principle So the solution is,  Using fully distributed and dynamically controlling in pair group of robots
  • 8.  This division and segmentation (pairs) can provide to control the formation of robots distributedly. In this case, we divide the robots to leader and follower in each groups. For the representation of the complete distributed multi-robot formation system, in which each follower robot has its own leader robot.
  • 9. Follower Follower Follower Leader Leader Leader
  • 10.  The follower robots’ motions are based only on the sensing ability of its own camera sensor. Followers use visual targeting and target estimation techniques to follow the leader. This strategy is individually and fully distributed in each pair groups (follower and leader) base image processing techniques.
  • 11.  So, the problem can be solved using by segmentation (assign to pair groups) and distributed controlling of robots with no inter-communication.