Article Per Year (5 Year)
p-Index From 2021 - 2026
0.61
P-Index
This Author published in this journals
All Journal Kinetik: Game Technology, Information System, Computer Network, Computing, Electronics, and Control Indonesian Journal of Electrical Engineering and Computer Science
Agung, Hendi Wicaksono
Unknown Affiliation
Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

Published : 3 Documents Claim Missing Document
Claim Missing Document
Check
Articles

Found 3 Documents
Search

 1 
Semi-decentralized Lyapunov-based formation control of multiple omnidirectional mobile robots Agung, Hendi Wicaksono; Jordan, Fransisco
Indonesian Journal of Electrical Engineering and Computer Science Vol 35, No 2: August 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v35.i2.pp823-833

Abstract

This paper introduces an advanced formation control algorithm based on a Lyapunov approach for coordinating multiple omnidirectional mobile robots in collaborative object transport tasks. The semi-decentralized strategy ensures that the robots maintain a predefined geometric formation, crucial for stability during material transportation, and dynamically adapt to avoid collisions using onboard sensors. Experimental with a physical robot simulator demonstrates successful maintenance of line and triangle formations achieving an average side length maintenance of 1.00 meters with minimal deviation. Quantitative analysis across 30 experimental runs reveals consistent performance, with a maximum side length fluctuation of only 2 centimeters, validating the effectiveness of maintaining formation within a multi-robot system (MRS) framework. The Lyapunov-based approach proves to be an efficient method for cooperative object transport, achieving consistent performance with minimal deviation.
Advancements in Cooperative Mobile Robots Control Strategies for Large-Scale Material Transport: Review Agung, Hendi Wicaksono
Kinetik: Game Technology, Information System, Computer Network, Computing, Electronics, and Control Vol. 9, No. 4, November 2024
Publisher : Universitas Muhammadiyah Malang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22219/kinetik.v9i4.1992

Abstract

This paper explores groundbreaking advancements in control strategies for cooperative mobile robots used in large-scale material transport, a critical aspect of modern industrial, manufacturing, logistics, and construction sectors. It delves into the development of sophisticated systems that enable seamless coordination among multiple mobile robot systems. The research presents a novel hierarchical finite state automaton for dynamic mission adaptation and a null space-based control scheme for precise task execution and enhanced system resilience. The introduction of Mecanum wheels facilitates flexible movement and manipulation of materials, thereby increasing the operational efficiency and safety. Cutting-edge sensory technology, including LiDAR (Light Detection and Ranging), and the implementation of Robot Operating System are highlighted for their roles in enhancing autonomous navigation and intelligent operation. Additionally, the paper discusses the impact of centralized and decentralized control methods in ensuring safe cooperative object transport. The findings contribute to the vision of Industry 4.0 by promoting the integration of automation and robotic cooperation in complex environments and present a foundational blueprint for further research. Challenges for future work such as scalability, communication efficiency, collision avoidance, and energy efficiency are also considered, underscoring the need for ongoing development of robust and scalable robotic systems to address modern transport challenges.
RIBATS: RSSI-based adaptive tracking system with ASEKF for indoor WSN Ainul, Rafina Destiarti; Agung, Hendi Wicaksono
Indonesian Journal of Electrical Engineering and Computer Science Vol 39, No 1: July 2025
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v39.i1.pp225-234

Abstract

Wireless indoor tracking systems face challenges due to environmental conditions and signal attenuation, affecting location accuracy, crucial in wireless sensor network (WSN) applications. Many tracking techniques rely on specific path loss models proposed by previous researches, but these models are susceptible to changes in environmental conditions, impacting estimation outcomes. In order to solve these problems, this paper propose adaptive tracking system using received signal strength indicator (RSSI) measurement parameter called as RIBATS. Adaptive in this system refers to the reliability of an algorithm for obtaining the accurate location without any path loss modelling at dynamic indoor environments. The enhancement of weighted centroid localization (eWCL) scheme calculates the location estimation only using RSSI data measurement without propagation characterisic determination. However, estimation result from eWCL still have high error at certain area. Hence, by defining a multiplier factor as adaptive scaled to the covariance matrix of EKF can eliminate distortion effects from eWCL called as adaptive scaled extended Kalman filter (ASEKF) algorithm. An effective variance estimation algorithm for adaptive indoor tracking system using eWCL and ASEKF combination achieve 0.82 meters mean square error (MSE) value with 55.67% error reduction. Then, without using multiplier scale factor at EKF algorithm only reduce previous eWCL at 3.78% with 1.78 meters MSE value.
Co-Authors Jordan, Fransisco Rafina Destiarti Ainul