{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,13]],"date-time":"2026-01-13T23:53:18Z","timestamp":1768348398717,"version":"3.49.0"},"reference-count":30,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2024,3,7]],"date-time":"2024-03-07T00:00:00Z","timestamp":1709769600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>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.<\/jats:p>","DOI":"10.3390\/s24061724","type":"journal-article","created":{"date-parts":[[2024,3,7]],"date-time":"2024-03-07T08:59:37Z","timestamp":1709801977000},"page":"1724","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Hardware Schemes for Smarter Indoor Robotics to Prevent the Backing Crash Framework Using Field Programmable Gate Array-Based Multi-Robots"],"prefix":"10.3390","volume":"24","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3801-2889","authenticated-orcid":false,"given":"Mudasar","family":"Basha","sequence":"first","affiliation":[{"name":"Department of Electronics and Communication Engineering, Koneru Lakshmaiah Education Foundation, Green Fields, Guntur 522502, Andhra Pradesh, India"},{"name":"Department of Electronics and Communications Engineering, B. V. Raju Institute of Technology, Medak Dist., Narsapur 502313, Telangana, India"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Munuswamy","family":"Siva Kumar","sequence":"additional","affiliation":[{"name":"Department of Electronics and Communication Engineering, Koneru Lakshmaiah Education Foundation, Green Fields, Guntur 522502, Andhra Pradesh, India"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1489-7686","authenticated-orcid":false,"given":"Mangali Chinna","family":"Chinnaiah","sequence":"additional","affiliation":[{"name":"Department of Electronics and Communications Engineering, B. V. Raju Institute of Technology, Medak Dist., Narsapur 502313, Telangana, India"},{"name":"School of Computer Science and Engineering, Nanyang Technological University, Singapore 639798, Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Siew-Kei","family":"Lam","sequence":"additional","affiliation":[{"name":"School of Computer Science and Engineering, Nanyang Technological University, Singapore 639798, Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Thambipillai","family":"Srikanthan","sequence":"additional","affiliation":[{"name":"School of Computer Science and Engineering, Nanyang Technological University, Singapore 639798, Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8591-7923","authenticated-orcid":false,"given":"Janardhan","family":"Narambhatla","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Chaitanya Bharati Institute of Technology, Gandipet, Hyderabad 500075, Telangana, India"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4273-2045","authenticated-orcid":false,"given":"Hari Krishna","family":"Dodde","sequence":"additional","affiliation":[{"name":"Department of Electronics and Communications Engineering, B. V. Raju Institute of Technology, Medak Dist., Narsapur 502313, Telangana, India"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3845-7738","authenticated-orcid":false,"given":"Sanjay","family":"Dubey","sequence":"additional","affiliation":[{"name":"Department of Electronics and Communications Engineering, B. V. Raju Institute of Technology, Medak Dist., Narsapur 502313, Telangana, India"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2024,3,7]]},"reference":[{"key":"ref_1","unstructured":"(2023, October 18). Available online: https:\/\/www.databridgemarketresearch.com\/reports\/global-indoor-robots-market#:~:text=Indoor%20Robots%20Market%20Analysis%20and%20Size&text=Global%20Indoor%20Robots%20Market%20was,forecast%20period%20of%202022%2D2029."},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Vemula, A., Muelling, K., and Oh, J. (2018, January 21\u201325). 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