We present an algorithm for the decentralised navigation of multiple mobile robots. Completely decentralised Navigation Functions are constructed, creating a potential field for each robot that gives rise to a feedbac...
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ISBN:
(纸本)9783642327223
We present an algorithm for the decentralised navigation of multiple mobile robots. Completely decentralised Navigation Functions are constructed, creating a potential field for each robot that gives rise to a feedback control law. The construction of the potential field incorporates limited sensing and explicit prioritisation in the form of priority classes. A non-circular sensing area creates asymmetrical sensing by reducing the influence of robots and obstacles behind each robot, introducing implicit priorities resembling "rules of the road". Static and moving obstacles are also taken into account, as well as malfunctioning robots that are unable to maneuver. A decentralised feedback control law based on the gradient of the potential field ensures convergence and collision avoidance for all robots, while respecting a lower speed bound. Simulation results demonstrate the efficacy of the proposed algorithm.
The development of control applications for multi-agent robot and sensor networks is complicated by the heterogeneous nature of the systems involved, as well as their physical capabilities (or limitations). We propose...
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ISBN:
(纸本)9783642327223
The development of control applications for multi-agent robot and sensor networks is complicated by the heterogeneous nature of the systems involved, as well as their physical capabilities (or limitations). We propose a software framework that unifies these networked systems, thus facilitating the development of multi-agent control across multiple platforms and application domains. This framework addresses the need for these systems to dynamically adjust their actuating, sensing, and networking capabilities based on physical constraints, such as power levels. Furthermore, it allows for sensing and control algorithms to migrate to different platforms, which gives multi-agent control application designers the ability to adjust sensing and control as the network evolves. This paper describes the design and implementation of our software system and demonstrates its successful application on robots and sensor nodes, which dynamically modify their operational components.
In this work, we explore how local interactions can simplify the process of decision-making in multiagent systems, particularly in multirobot problems. We review a recent decision-theoretic model for multiagent system...
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ISBN:
(纸本)9783642327223
In this work, we explore how local interactions can simplify the process of decision-making in multiagent systems, particularly in multirobot problems. We review a recent decision-theoretic model for multiagent systems, the decentralized sparse-interaction Markov decision process (Dec-SIMDP), that explicitly distinguishes the situations in which the agents in the team must coordinate from those in which they can act independently. We situate this class of problems within different multiagent models, such as MMDPs and transition independent Dec-MDPs. We then contribute a new general approach that leverages the particular structure of Dec-SIMDPs to efficiently plan in this class of problems, and propose two algorithms based on this underlying approach. We pinpoint the main properties of our approach through illustrative examples in multirobot navigation domains with partial observability, and provide empirical comparisons between our algorithms and other existing algorithms for this class of problems. We show that our approach allows the robots to look ahead for possible interactions, planning to accommodate such interactions and thus overcome some of the limitations of previous methods.
In this paper we derive connectivity constraints for a heterogeneous sensor network made up of sensing agents and mobile communication relays. With these constraints we develop feasible motion sets that can guarantee ...
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ISBN:
(纸本)9783642327223
In this paper we derive connectivity constraints for a heterogeneous sensor network made up of sensing agents and mobile communication relays. With these constraints we develop feasible motion sets that can guarantee network connectivity. We also show how to reduce the number of communication constraints to allow the sensing agents to maximize their feasible motion sets and thus allow for a larger search area while maintaining network connectivity. A technique for shaping the network configuration is also presented that allows for biasing particular communication links within the network. Numerical simulations and preliminary experimental results verify the validity of the proposed approach.
A major challenge in swarm robotics is efficiently deploying robots into unknown environments, minimising energy and time costs. This is especially important with small aerial robots which have extremely limited fligh...
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ISBN:
(纸本)9783642327223
A major challenge in swarm robotics is efficiently deploying robots into unknown environments, minimising energy and time costs. This is especially important with small aerial robots which have extremely limited flight autonomy. This paper compares three deployment strategies characterised by nominal computation, memory, communication and sensing requirements, and hence are suitable for flying robots. Energy consumption is decreased by reducing unnecessary flight following two premises: 1) exploiting environmental information gathered by the robots;2) avoiding diminishing returns and reducing interference between robots. Using a 3D dynamics simulator we examine energy and time metrics, and also scalability effects. Results indicate that a novel strategy that controls the density of flying robots is most promising in reducing swarm energy costs while maintaining rapid search times. Furthermore, we highlight the energy-time tradeoff and the importance of measuring both metrics, and also the significance of electronics power in calculating total energy consumption, even if it is small relative to locomotion power.
This paper introduces a new approach to the problem of simultaneously localizing a team of micro aerial vehicles (MAV) equipped with inertial sensors able to monitor their motion and with exteroceptive sensors. The me...
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ISBN:
(纸本)9783642327223
This paper introduces a new approach to the problem of simultaneously localizing a team of micro aerial vehicles (MAV) equipped with inertial sensors able to monitor their motion and with exteroceptive sensors. The method estimates a delayed state containing the trajectories of all the MAVs. The estimation is based on an Extended Information Filter whose implementation is distributed over the team members. The paper introduces two contributions. The former is a trick which allows exploiting the information contained in the inertial sensor data in a distributed manner. The latter is the use of a projection filter which allows exploiting the information contained in the geometrical constraints which arise as soon as the MAV orientations are characterized by unitary quaternions. The performance of the proposed strategy is evaluated with synthetic data. In particular, the benefit of the previous two contributions is pointed out.
In order to more effectively explore a large unknown area, multiple robots may be employed to work cooperatively. When properly done, the group allocates specific portions of the overall exploration task to different ...
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ISBN:
(纸本)9783642327223
In order to more effectively explore a large unknown area, multiple robots may be employed to work cooperatively. When properly done, the group allocates specific portions of the overall exploration task to different robots such that the entire environment is explored with minimal excess effort. In this work, we present a new hierarchical market-based approach to this allocation problem. Our approach builds on standard auction approaches to provide agents with a mechanism to independently form coalitions and to divide a coalition into smaller coalitions in response to the progress of their cooperative exploration process. These coalitions allow a subset of the team to move together efficiently, especially in constrained environments when there are few avenues for exploration. We also present implementation and simulated experiments which show how this natural hierarchy forms and can lead to more efficient exploration than using a greedy allocation technique or without the use of coalitions.
Multi robot motion planning is a challenging problem in the robotics field due to its complexity and high computational costs induced by the number of robots. In this paper a new heuristic method is presented for solv...
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ISBN:
(纸本)9783642327223
Multi robot motion planning is a challenging problem in the robotics field due to its complexity and high computational costs induced by the number of robots. In this paper a new heuristic method is presented for solving this problem through a decentralized approach with global coordination. The method is based on a new improved variant of the Particle Swarm Optimization (PSO) metaheuristic, which serves as a global planner. Alternatively, for local planning and avoiding obstacles in narrow passages, the Probabilistic Roadmap Method (PRM) is employed. The global and local planners act sequentially until all robots reach their goals. The algorithm iteratively and simultaneously minimizes two main objectives, shortness and smoothness of the paths. The proposed algorithm is simulated and compared with the standard (basic) PSO, as well as the standard Probabilistic Roadmap methods. The experimental results show a meaningful advantage of the new method regarding computational time and path quality.
The International Symposium on Experimental robotics (ISER) is a series of bi-annual meetings, which are organized, in a rotating fashion around North America, Europe and Asia/Oceania. The goal of ISER is to provide a...
ISBN:
(数字)9783319000657
ISBN:
(纸本)9783319000640;9783319000657
The International Symposium on Experimental robotics (ISER) is a series of bi-annual meetings, which are organized, in a rotating fashion around North America, Europe and Asia/Oceania. The goal of ISER is to provide a forum for research in robotics that focuses on novelty of theoretical contributions validated by experimental results. The meetings are conceived to bring together, in a small group setting, researchers from around the world who are in the forefront of experimental robotics research. This unique reference presents the latest advances across the various fields of robotics, with ideas that are not only conceived conceptually but also explored experimentally. It collects robotics contributions on the current developments and new directions in the field of experimental robotics, which are based on the papers presented at the 13the ISER held in Qubec City, Canada, at the Fairmont Le Chteau Frontenac, on June 18-21, 2012. This present thirteenth edition of Experimental robotics edited by Jaydev P. Desai, Gregory Dudek, Oussama Khatib, and Vijay Kumar offers a collection of a broad range of topics in field and human-centered robotics.
We consider the problem of multi-robot exploration and coverage in unknown non-convex environments. The contributions of the work include (1) the presentation of a distributed algorithm that computes the generalized V...
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ISBN:
(纸本)9783642327223
We consider the problem of multi-robot exploration and coverage in unknown non-convex environments. The contributions of the work include (1) the presentation of a distributed algorithm that computes the generalized Voronoi tessellation of non-convex environments (using a discrete representation) in real-time for use in feedback control laws;and (2) the extension of this method to entropy-based metrics that allow for cooperative coverage control in unknown non-convex environments. Simulation results demonstrate the application of the control methodology for cooperative exploration and coverage in an office environment.
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