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Grounding inference in distributed multi-robot environments

ROBOTICS AND AUTONOMOUS SYSTEMS 2003年第2-3期43卷 121-132页

作者： Khoo, A Horswill, I Northwestern Univ Dept Comp Sci Evanston IL 60201 USA

Traditional symbolic reasoning systems are typically built on a transaction model of computation, which complicates the process of synchronizing their world models with changes in a dynamic environment. This problem is exacerbated in the multi-robot case, where there are now n world models keep in synch. In this paper, we describe an inference grounding and coordination mechanism for robot teams based on tagged behavior-based systems. This approach supports a large subset of classical AI techniques while providing a novel representation that allows team members to share information efficiently. We illustrate our approach on two problems involving systematic spatial search. (C) 2003 Elsevier Science B.V. All rights reserved.

关键词： autonomous mobile robots multi-robot teams behavior-based control

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Subsumption architecture for fluid-advected chemical plume tracing with soft obstacle avoidance

Subsumption architecture for fluid-advected chemical plume t...

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Oceans 2006 Conference

作者： Li, Wei Carter, Donald Calif State Coll Bakersfield Dept Comp Sci Bakersfield CA 93311 USA

ISBN: (纸本)9781424401147

A typical chemical plume tracing (CPT) is to navigate an autonomous vehicle to find a chemical plume that is transported in a turbulent fluid flow, to trace the plume to its source, and to declare the source location. CPT in the real world, however, is more complicated, for example, some test runs, conducted in August 2002 on Clememte Island, California, failed because of some "soft obstacles", such as kelp forest or seaweed in near-shore ocean environments. This paper presents a subsumption architecture for CPT with soft obstacle avoidance by integrating a Follow-Obstacle behavior. The behaviors used herein can be grouped into two categories: soft obstacle avoidance and plume searching and tracing. The simulation studies of CPT with soft obstacle avoidance are performed using a simulated turbulent fluid environment.

关键词： subsumption architecture behavior-based control autonomous underwater vehicles chemical plume trading potential fields

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A behavior Learning Algorithm for Unmanned Underwater Vehicles

A Behavior Learning Algorithm for Unmanned Underwater Vehicl...

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9th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Han, Jonghui Chung, Wan Kyun KAERI Fuel Cycle Proc Dev Div Taejon 305353 South Korea POSTECH Dept Mech Engn Pohang 790784 South Korea

ISBN: (纸本)9781467331104

This paper proposes the behavior learning algorithms for improving the performance of unmanned underwater vehicles (UUVs). Basically, the motion of a UUV with behavior-based controls is determined by the behaviors' outputs which are calculated based on the uncertain dynamic models. Therefore, the performance of a UUV can be improved by learning the dynamic models. For this purpose, the perturbation models for three behaviors such as speed command, turning motion, and diving motion are derived and trained by supervised neural network so that the perturbations are estimated and compensated in the exploitation stage. Simulation result is presented for verifying the performance of the learning algorithms.

关键词： underwater vehicle behavior-based control behavior learning

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Local behavior-based Navigation in Rough Off-Road Scenarios based on Vehicle Kinematics

Local Behavior-Based Navigation in Rough Off-Road Scenarios ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Wolf, Patrick Ropertz, Thorsten Oswald, Moritz Berns, Karsten Univ Kaiserslautern Dept Comp Sci Robot Res Lab Kaiserslautern Germany

ISBN: (纸本)9781538630815

This paper describes a novel behavior-based local navigation approach for rough off-road scenarios. Trajectory candidates are generated based on vehicle kinematics and dynamics as well as the desired global trajectory. In contrast to on-road local navigation approaches, the work at hand proposes the use of a shiftable elevation grid map instead of occupancy maps since traversability in rough terrains does not only depend on location, but also on the robot's orientation. The traversability is evaluated by determining tire contact points with the terrain to take various different safety and efficiency aspects like underbody collisions and rollover risk into account. By exploiting the behavior-based control paradigm, the navigation approach can be easily extended and its robustness is shown in experimental evaluations using an Unimog U5023.

关键词： robotics off-road navigation behavior-based control tentacles

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Automatic Multi-Robot control Design and Optimization Leveraging Multi-Level Modeling: An Exploration Case Study 22

Automatic Multi-Robot Control Design and Optimization Levera...

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22nd World Congress of the International Federation of Automatic control (IFAC)

作者： Endo, Wakana Baumann, Cyrill Asama, Hajime Martinoli, Alcherio Univ Tokyo Sch Engn Dept Precis Engn Tokyo Japan Ecole Polytech Fed Lausanne Sch Architecture Civil & Environm Engn Distributed Intelligent Syst & Algorithms Lab Lausanne Switzerland

ISBN: (纸本)9781713872344

In this work, we demonstrate the applicability of a recently proposed automatic synthesis approach for behavioral arbitrators based on Probabilistic Finite State Machines (PFSMs) for a multi-robot scenario. More specifically, a behavior-based controller for a multirobot exploration scenario is automatically synthesized using a predefined set of basic behaviors and conditions. A key feature of the used synthesis approach is the tailored use of two modeling levels of the scenario, microscopic and submicroscopic, to significantly reduce the computational effort. Furthermore, the modeling is extended by a simplified macroscopic model of the scenario to analytically evaluate the best achievable performance given an ideal controller, taking into account real-world constraints such as limited speed and localization. Taking advantage of the interpretability of the synthesized PFSM-based arbitrators, individualistic and collaborative controllers are analyzed separately to provide insights into the theoretical and experimental effects of collaboration for the considered case study. The obtained results show that the PFSMbased synthesis approach is also suitable for multi-robot scenarios, and in particular that the collaborative solution can compete with a manually designed and fine-tuned solution. Copyright (c) 2023 The Authors.

关键词： Multi-Level Modeling Probabilistic Modeling Learning for control Metaheuristic Optimization Multi-Robot Systems behavior-based control

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Autonomous behavior-based micro-rover for lunar exploration

Autonomous behavior-based micro-rover for lunar exploration

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International Workshop on Bio-Robotics and Teleoperation

作者： Cui, PY Ju, HH Cui, HT Harbin Inst Technol Deep Space Explorat Res Ctr Harbin 150006 Peoples R China

ISBN: (纸本)9628553445

In the millennium, there has been an increased interest in returning to the Moon, and we are conducting the research of micro-rover for lunar exploration that can help to cut down the transportation cost. This paper presents the system-level issues that direct the design in terms of functions, operations and constraints (in term of system resources and environment). At the same time, we argue that although the application-driven experiments engineering has represented some of the best practical results obtained to-date, a sound theory, named Autonomous behavior-based robotics, is needed. It not only should include the robotics or rovers achievements achieved by robotic community from both behavior-based robotics and autonomous hierarchical robotics, but also integrate the achievements of related fields including human movement science, cognitive science, evolutionary computation, and multi-agent systems, etc. Moreover, we analyze the autonomous behavior-based micro-rover system, identify key elements that must be defined in any formal model from system viewpoint.

关键词： autonomy micro-rover behavior-based control lunar exploration

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Traction Optimization for Robust Navigation in Unstructured Environments Using Deep Neural Networks on the Example of the Off-Road Truck Unimog 17th

Traction Optimization for Robust Navigation in Unstructured ...

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17th International Conference on Intelligent Autonomous Systems (IAS)

作者： Wolf, Patrick Deoli, Pankaj Thangellapally, Satish Kumar Berns, Karsten TU Kaiserslautern Dept Comp Sci Robot Res Lab Kaiserslautern Germany

ISBN: (纸本)9783031222153;9783031222160

Traction control is fundamental for self-driving vehicles' safe and robust off-road control. Aspects such as surface material heavily affect slippage and driving behavior and requires consideration for a forward-thinking driving method. This paper presents an approach for optimized traction control based on deep convolutional neural networks, combined with OpenStreetMap data to determine ground surface properties. The semantic surface segmentation provides information about estimated surface friction coefficients. The driving behavior adjusts and maximizes traction by selecting the best-suited gear selection, differential lock control, and tire pressure. Additionally, steering and breaking adjust to the ground friction. The demonstration uses the autonomous off-road truck U5023 in a forest-like environment close to a landfill.

关键词： Off-road robotics Navigation Deep learning behavior-based control Traction control

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Realistic Cooperative control Mechanism of Multiple AUVs 33

Realistic Cooperative Control Mechanism of Multiple AUVs

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第三十三届中国控制会议

作者： Jiang Dapeng He Bin Science and Technology on Underwater Vehicle Laboratory Harbin Engineering University College of Shipbuilding Engineering Harbin Engineering University

ISBN: (纸本)9781479947249

Autonomous Underwater Vehicle(AUV)has turned to be an effective mean for scientific,industrial and naval *** focus of research of AUV is gradually moving towards multiple autonomous underwater vehicles(MAUV)in recent *** paper describes an investigation into cooperative control of ***,a distributed control architecture(MOOS)was applied to MAUV *** to MOOS,functionalities of AUV were organized in a modular manner and a unified information exchange mechanism was used to ensure an efficient communication between different ***,a behavior based control strategy was proposed to enable the AUV to cooperate with each other intelligently and *** programming algorithm was applied to make sure that behaviors of each AUV can be coordinated in a timely and optimal *** of behavior-based control of AUV was ***,a distributed simulation environment was established and a series of simulation were carried out to verify the feasibility of methods mentioned above.

关键词： Multiple Autonomous Underwater Vehicles Cooperative control behavior-based control MOOS-IvP

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Cooperative control of Multiple Autonomous Underwater Vehicles

Cooperative Control of Multiple Autonomous Underwater Vehicl...

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2nd International Conference on Machine Design and Manufacturing Engineering (ICMDME)

作者： He, Bin Jiang, Da Peng Harbin Engn Univ Coll Shipbldg Engn Harbin 150001 Peoples R China

ISBN: (纸本)9783037857816

The focus of research of AUV is gradually moving towards multiple autonomous underwater vehicles (MAUV) in recent years. This paper describes an investigation into cooperative control of MAUV. Firstly, a distributed control architecture (MOOS) was applied to MAIN system. According to MOOS, functionalities of AUV were organized in a modular manner and a unified information exchange mechanism was used to ensure an efficient communication between different modules. Secondly, a behavior based control strategy was proposed to enable the AUV to cooperate with each other intelligently and adaptively. Interval programming algorithm was applied to make sure that behaviors of each Ally can be coordinated in a timely and optimal manner. Stability of behavior-based control of AUV was analyzed. Finally, a distributed simulation environment was established and a series of simulation were carried out to verify the feasibility of methods mentioned above.

关键词： Robotics Multiple Autonomous Underwater Vehicles Cooperative control behavior-based control MOOS-IvP

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Design And Implementation Map Building of behavior-based Architecture Using Active Object Computing Model 4

Design And Implementation Map Building of Behavior-Based Arc...

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International Conference on System Engineering and Technology (ICSET)

作者： Haris, Rahmad Az Mutijarsa, Kusp Rasapta Adiprawita, Widyawardana Inst Teknol Bandung Sch Elect Engn & Informat Elect Engn Study Program Ganeca 10 Bandung Java Indonesia

ISBN: (纸本)9781479971893

behavior-based control present a different approach in designing control system of robot. In this paper will be implemented behavior-based control system into an autonomous robot using Active Object Computing Model technique. With this technique will be demonstrated coordination between behavior in parallel and switching behavior. Map building behavior is a behavior of robot to transform the reading of distance sensor to image of environment. In testing, it was shown the coordination of behavior in parallel was successfully demonstrated by map building behavior and wall following behavior. Map building behavior also successfully represents the reading of distance sensor into a map the environment in the form of images.

关键词： behavior-based control Active Object Computing Model parallel map building

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