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All Journal Mechatronics, Electrical Power, and Vehicular Technology Perfecting a Video Game with Game Metrics TEKTRIKA - Jurnal Penelitian dan Pengembangan Telekomunikasi, Kendali, Komputer, Elektrik, dan Elektronika
Kusprasapta Mutijarsa
Institut Teknologi Bandung
Computer Science & IT Electrical & Electronics Engineering

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Obstacle Avoidance Method for a Group of Humanoids Inspired by Social Force Model Sadiyoko, Ali; Trilaksono, Bambang Riyanto; Mutijarsa, Kusprasapta; Adiprawita, Widyawardana
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 6, No 2 (2015)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (873.965 KB) | DOI: 10.14203/j.mev.2015.v6.67-74

Abstract

This paper presents a new formulation for obstacle and collision behavior on a group of humanoid robots that adopts walking behavior of pedestrian crowd. A pedestrian receives position information from the other pedestrians, calculate his movement and then continuing his objective. This capability is defined as socio-dynamic capability of a pedestrian. Pedestrian’s walking behavior in a crowd is an example of a sociodynamics system and known as Social Force Model (SFM). This research is trying to implement the avoidance terms in SFM into robot’s behavior. The aim of the integration of SFM into robot’s behavior is to increase robot’s ability to maintain its safety by avoiding the obstacles and collision with the other robots. The attractive feature of the proposed algorithm is the fact that the behavior of the humanoids will imitate the human’s behavior while avoiding the obstacle. The proposed algorithm combines formation control using Consensus Algorithm (CA) with collision and obstacle avoidance technique using SFM. Simulation and experiment results show the effectiveness of the proposed algorithm.
Videoconference System for Rural Education: Issues, Challenges, and Solutions a Title is Fewest Possible Words Kusprasapta Mutijarsa; Yoanes Bandung; Luki Bangun Subekti
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 15, No 4: December 2017
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v15i4.6291

Abstract

In this paper, we presented issues, challenges, and solutions of videoconference system for rural education. First, we discussed several issues on the implementation of videoconference system for education, particulary in rural area in Indonesia, which covered videoconference requirement, rural condition, and education needs. Second, we presented several challenges consisted of choosing videoconference technology, choosing compression method, system and application development, ensuring quality of services, and ensuring quality of experiences. Based on the issues and challenges, we proposed a solution of videoconference system which is specifically deployed in rural education. The solution was based on WebRTC technology implemented in Intel i5 core miniPC choosen to increase portability of the system. A STUN server was built on Javascript to facilitate communication between each client terminal. A simple and intuitive user interface was designed to facilitate the use of application by rural people. The system was deployed at two elementary schools in Cianjur, West Java, representing rural education in Indonesia. From the experiment, we obtained video sent data rate 82 kbit/s, video received data rate 245 kbit/s, average delay 316 ms and packet lost rate 1.32%. The experiment results showed that the audio and video quality can be accepted by users to implement distance learning.
Obstacle Avoidance Method for a Group of Humanoids Inspired by Social Force Model Ali Sadiyoko; Bambang Riyanto Trilaksono; Kusprasapta Mutijarsa; Widyawardana Adiprawita
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 6, No 2 (2015)
Publisher : National Research and Innovation Agency

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14203/j.mev.2015.v6.67-74

Abstract

This paper presents a new formulation for obstacle and collision behavior on a group of humanoid robots that adopts walking behavior of pedestrian crowd. A pedestrian receives position information from the other pedestrians, calculate his movement and then continuing his objective. This capability is defined as socio-dynamic capability of a pedestrian. Pedestrian’s walking behavior in a crowd is an example of a sociodynamics system and known as Social Force Model (SFM). This research is trying to implement the avoidance terms in SFM into robot’s behavior. The aim of the integration of SFM into robot’s behavior is to increase robot’s ability to maintain its safety by avoiding the obstacles and collision with the other robots. The attractive feature of the proposed algorithm is the fact that the behavior of the humanoids will imitate the human’s behavior while avoiding the obstacle. The proposed algorithm combines formation control using Consensus Algorithm (CA) with collision and obstacle avoidance technique using SFM. Simulation and experiment results show the effectiveness of the proposed algorithm.
SIMULASI SISTEM KENDALI BERBASIS PERILAKU PADA AUTONOMOUS MOBILE ROBOT DENGAN METODA Q-LEARNING Casi Setianingsih; Kusprasapta Mutijarsa; Muhammad Ary Murti
TEKTRIKA Vol 4 No 2 (2019): TEKTRIKA Vol.4 No.2 2019
Publisher : Telkom University

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.25124/tektrika.v4i2.2879

Abstract

Autonomous robot adalah suatu robot yang mampu bekerja secara mandiri tanpa pengendalian langsung dari manusia. Robot bekerja berdasarkan sensor-sensor yang dimilikinya, mengambil keputusan sendiri untuk menyelesaikan misi dalam lingkungan kerjanya. Dalam dunia nyata, lingkungan kerja robot sangat dinamis, selalu berubah, dan tidak terstruktur. Membuat suatu model lingkungan yang tidak terstruktur sangat sulit. Memperoleh model matematik yang tepat dari lingkungan seperti ini hampir tidak mungkin dilakukan. Untuk membuat suatu autonomous mobile robots yang mampu bekerja pada lingkungan yang tidak terstruktur dan dinamis,diperlukansuatumetodatertentuyangadaptifdanmampubelajar. Berdasarkan permasalahan tersebut maka pada riset ini dirancang suatu autonomous mobile robot dengan arsitektur berbasis perilaku yang dapat belajar dan bekerja secara mandiri pada lingkungan yang tidak terstruktur, menggunakan metoda Reinforcement Learning. Tujuan metoda ini diterapkan agar robot mampu belajar dan beradaptasi terhadap lingkungan yang tidak terstruktur. Selanjutnya robot dikembangkan agar mampu menyelesaikan misi menemukan target pada posisi tertentu berdasarkan informasi yang diperoleh dari sensor sensor yang ada. Hasil simulasi menunjukan bahwa algoritma pembelajaran Reinforcement Learning berhasil diterapkan pada arsitektur kendali berbasis perilaku di autonomous mobile robot dengan akurasi sebesar 85,71%.
Co-Authors Ali Sadiyoko Bambang Riyanto Trilaksono Casi Setianingsih Luki Bangun Subekti Muhammad Ary Murti Widyawardana Adiprawita Widyawardana Adiprawita, Widyawardana Yoanes Bandung