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Multirobot Inspection of Industrial Machinery From distributed coverage Algorithms to Experiments with Miniature Robotic Swarms

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IEEE ROBOTICS & AUTOMATION MAGAZINE 2009年第1期16卷 103-112页

作者： Correll, Nikolaus Martinoli, Alcherio MIT Comp Sci & Artificial Intelligence Lab Cambridge MA 02139 USA Swiss Fed Inst Technol Sch Architecture Civil & Environm Engn CH-1015 Lausanne Switzerland Swiss Fed Inst Technol Distributed Intelligent Syst & Algorithms Lab CH-1015 Lausanne Switzerland

Inspection of aircraft and power generation machinery using a swarm of miniature robots is a promising application both from an intellectual and a commercial perspective. Our research is motivated by a case study concerned with the inspection of a jet turbine engine by a swarm of miniature robots. This article summarizes our efforts that include multirobot path planning, modeling of self-organized robotic systems, and the implementation of proof-of-concept experiments with real miniature robots. Although other research tackles challenges that arise from moving within three-dimensional (3-D) structured environments at the level of the individual robotic node, the emphasis of our work is on explicitly incorporating the potential limitations of the individual robotic platform in terms of sensor and actuator noise into the modeling and design process of collaborative inspection systems. We highlight difficulties and further challenges on the (lengthy) path toward truly autonomous parallel robotic inspection of complex engineered structures.

关键词： Swarm robotics turbine inspection self-organization distributed coverage networked robotic systems

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Coalition game-based distributed coverage of unknown environments by robot swarms 08

Coalition game-based distributed coverage of unknown environ...

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Proceedings of the 7th international joint conference on Autonomous agents and multiagent systems - Volume 3

作者： Ke Cheng Prithviraj Dasgupta University of Nebraska Omaha NE

ISBN: (纸本)9780981738123

We consider the problem of distributed exploration or coverage of an unknown environment by a swarm of mobile mini-robots that have limited memory, computation and communication capabilities. We describe a novel mechanism of distributed coverage of an unknown environment by swarmed robots that can dynamically merge and split into structured teams or exchange team members to improve the efficiency of solving the coverage problem. Our mechanism combines the technique of swarm-based flocking with coalition games to enable robots dynamically select utility maximizing teams that move in formation.

关键词： distributed coverage flocking coalition game swarming

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Loss of distributed coverage Using Lazy Agents Operating Under Discrete, Local, Event-Triggered Communication 23

Loss of Distributed Coverage Using Lazy Agents Operating Und...

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Proceedings of the 2023 International Conference on Autonomous Agents and Multiagent Systems

作者： Edward Vickery Aditya A. Paranjape SHL London United Kingdom Tata Consultancy Services Ltd. Pune India

ISBN: (纸本)9781450394321

In the context of continuous surveillance of a spatial region, this paper investigates a practically-relevant scenario where robotic sensors are introduced asynchronously and inter-robot communication is discrete, event-driven, local and asynchronous. The robots are assumed to be lazy; i.e., they seek to minimize their area of responsibility by equipartitioning the domain to be covered. We construct a non-trivial example which shows that coverage guarantees for a given algorithm might be sensitive to the number of robots and, therefore, may not scale in obvious ways. It also suggests that when such algorithms are to be verified and validated prior to field deployment, the number of robots or sensors used in test scenarios should match that deployed on the field.

关键词： loss of coverage distributed coverage gossip-based communication

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distributed boundary coverage with a team of networked miniature robots using a robust market-based algorithm

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ANNALS OF MATHEMATICS AND ARTIFICIAL INTELLIGENCE 2008年第2-4期52卷 307-333页

作者： Amstutz, Patrick Correll, Nikolaus Martinoli, Alcherio MIT Comp Sci & Artificial Intelligence Lab Cambridge MA 02139 USA Ecole Polytech Fed Lausanne Distributed Intelligent Syst & Algorithms Lab CH-1015 Lausanne Switzerland

We study distributed boundary coverage of known environments using a team of miniature robots. distributed boundary coverage is an instance of the multi-robot task-allocation problem and has applications in inspection, cleaning, and painting among others. The proposed algorithm is robust to sensor and actuator noise, failure of individual robots, and communication loss. We use a market-based algorithm with known lower bounds on the performance to allocate the environmental objects of interest among the team of robots. The coverage time for systems subject to sensor and actuator noise is significantly shortended by on-line task re-allocation. The complexity and convergence properties of the algorithm are formally analyzed. The system performance is systematically analyzed at two different microscopic modeling levels, using agent-based, discrete-event and module-based, realistic simulators. Finally, results obtained in simulation are validated using a team of Alice miniature robots involved in a distributed inspection case study.

关键词： Multi-robot systems Miniature robots Boundary coverage distributed coverage Networked robots Market-based algorithms

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distributed Optimization of Visual Sensor Networks for coverage of a Large-Scale 3-D Scene

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2020年第6期25卷 2777-2788页

作者： Jiang, Fan Zhang, Xuebo Chen, Xiang Fang, Yongchun Inst Robot & Automat Informat Syst Tianjin 300350 Peoples R China Nankai Univ Tianjin Key Lab Intelligent Robot Tianjin 300071 Peoples R China Univ Windsor Dept Elect & Comp Engn Windsor ON N9B 3P4 Canada

Visual coverage is an important task for environment perception. In this article, the coverage of a large-scale 3-D scene represented by a polygon mesh model is considered, and a visual sensor network deployment algorithm is proposed through the combination of space partition, greedy and local search procedures. Comparing with existing approaches, the proposed algorithm can handle large-scale 3-D polygon meshes much faster in a scalable and distributed way, with superior coverage performance. First, we propose a new data structure called "chunk-triangle" in order to accelerate the computing process to identify visible triangles for a given camera. Furthermore, a GPU-based parallel algorithm is presented to shorten the time consumed for occlusion detection. Second, a new fast, scalable and distributed deployment approach is proposed for a camera sensor network to cover large-scale 3-D polygon meshes. The deployment algorithm generates a solution space of individual candidate cameras followed by camera selection. In camera selection, we partition the target scene space into some regions and conduct greedy search, respectively, in each region in order to choose a preliminary set of cameras with high initial coverage quality. Then, a local search strategy is further conducted to improve the coverage performance by compensating for the lost in rough space partition, and thus, results in an optimal deployment configuration of the camera network. Comparative evaluation results demonstrate the advantages of the proposed approach versus existing methods in terms of time cost, scalability, and coverage performance.

关键词： Cameras Visualization Solid modeling Robot vision systems Computational modeling Optimization Chunk-triangle data structure distributed coverage large-scale mesh model parallel occlusion detection visual sensor network (VSN)

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A distributed market-based boundary coverage algorithm for multiple microrobots with network connectivity maintenance

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ADVANCED ROBOTICS 2013年第17期27卷 1361-1373页

作者： Mao, Ling Li, Zhenbo Zhang, Dawei Chen, Jiapin Qi, Jiamin Shanghai Jiao Tong Univ Res Inst Nano Micro Sci & Technol Natl Key Lab Nano Micro Fabricat Technol Key Lab Thin Film & MicrofabricatMinist Educ Shanghai 200240 Peoples R China

In this paper, the boundary coverage of known environments is investigated using multiple microrobots (MMR) involved in a distributed inspection case study. A strong need for an operator is able to control and receive feedback from microrobots. However, communication range is limited because of the size effect of microrobot, and obstacles may also prevent microrobots from communicating. To enable MMR to accomplish coverage task while maintaining the network connectivity with a base station, we propose a market-based boundary coverage algorithm. This algorithm can dynamically allocate the boundary coverage task to a microrobot, so as to adapt to the change of communication network topology. A motion control model based on virtual spring-damper system is established to prevent communication network splitting by monitoring infrared link quantity information among microrobot nodes. Simulations and experimental results, obtained using our MMR tested in a distributed inspection case study, demonstrate that the proposed solution fulfills the objective of maintaining network connectivity at all times while completing the allocated boundary coverage task.

关键词： microrobot distributed coverage network connectivity market-based algorithm

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Centralized and distributed approaches of Artificial Bee Colony algorithm and Delaunay Triangulation for the coverage in IoT networks

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PEER-TO-PEER NETWORKING AND APPLICATIONS 2024年第3期17卷 1403-1421页

作者： Abdallah, Wajih Mnasri, Sami Val, Thierry Univ Toulouse CNRS IRIT UT2J RMESS Toulouse France Univ Gafsa Dept Design ISAM Gafsa Gafsa Tunisia Univ Tabuk Community Coll Dept Comp Sci Tabuk Saudi Arabia

A wireless data collection network (DCN) is the key constituent of the IoT. It is used in many applications such as transport, logistics, security and monitoring. Despite the continuous development of DCN, communication between nodes in such network presents several challenges. The major issue is the deployment of connected objects and, more precisely, how numerous nodes are appropriately positioned to attain full coverage. The current work presents a hybrid technique, named DTABC, combining a geometric deployment method, called Delaunay Triangulation diagram DT, and an optimization algorithm named the Artificial Bee Colony (ABC) algorithm. In the centralized approach, this hybrid method is executed on a single node while, in a distributed approach, it is executed in parallel on different nodes deployed in a wireless data collection network. This study aims at enhancing the coverage rate in data collection networks utilizing less sensor nodes. The Delaunay Triangulation diagram is utilized to produce solutions showing the first locations of the IoT objects. Then, the Artificial Bee Colony algorithm is used to improve the node deployment coverage rate. The developed DTABC approach performance is assessed experimentally by prototyping M5StickC nodes on a real testbed. The obtained results reveal that the coverage rate, the number of the objects' neighbors, the RSSI and the lifetime of the distributed approach are better than those of the algorithms introduced in previous research works.

关键词： Artificial Bee Colony Delaunay Triangulation distributed coverage Hybridization IoT collection networks Optimization

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distributed Search Planning in 3-D Environments With a Dynamically Varying Number of Agents

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IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 2023年第7期53卷 4117-4130页

作者： Papaioannou, Savvas Kolios, Panayiotis Theocharides, Theocharis Panayiotou, Christos G. Polycarpou, Marios M. Univ Cyprus KIOS Res & Innovat Ctr Excellence KIOS CoE CY-1678 Nicosia Cyprus Univ Cyprus Dept Elect & Comp Engn CY-1678 Nicosia Cyprus

In this work, a novel distributed search-planning framework is proposed, where a dynamically varying team of autonomous agents cooperate in order to search multiple objects of interest in three-dimension (3-D). It is assumed that the agents can enter and exit the mission space at any point in time, and as a result the number of agents that actively participate in the mission varies over time. The proposed distributed search-planning framework takes into account the agent dynamical and sensing model, and the dynamically varying number of agents, and utilizes model predictive control (MPC) to generate cooperative search trajectories over a finite rolling planning horizon. This enables the agents to adapt their decisions on-line while considering the plans of their peers, maximizing their search planning performance, and reducing the duplication of work.

关键词： Search problems Planning Task analysis Trajectory planning Sensors Multi-agent systems Technological innovation distributed coverage distributed model predictive control (DMPC) multiagent systems trajectory planning

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Collaborative coverage using a swarm of networked miniature robots

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ROBOTICS AND AUTONOMOUS SYSTEMS 2009年第5期57卷 517-525页

作者： Rutishauser, Samuel Correll, Nikolaus Martinoli, Alcherio MIT Comp Sci & Artificial Intelligence Lab Cambridge MA 02139 USA Ecole Polytech Fed Lausanne Distributed Intelligent Syst & Algorithms Lab CH-1015 Lausanne Switzerland

We study distributed coverage of environments with unknown extension using a team of networked miniature robots analytically and experimentally. Algorithms are analyzed by incrementally raising the abstraction level starting froth physical robots, to realistic and discrete event system (DES) simulation. The realistic simulation is calibrated using sensor and actuator noise characteristics of the real platform and serves for calibration of the DES microscopic model. The proposed algorithm is robust to positional noise and communication loss, and its performance gracefully degrades for communication and localization failures to a lower bound, which is given by the performance of a non-coordinated, randomized solution. Results are validated by real robot experiments with miniature robots of a size smaller than 2 cm x 2 cm x 3 cm in a boundary coverage case study. Trade-offs between the abilities of the individual platform, required communication, and algorithmic performance are discussed. (c) 2008 Elsevier B.V. All rights reserved.

关键词： distributed coverage Networked robotic systems Modeling of multi-robot systems

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coverage Control for Mobile Anisotropic Sensor Networks

Coverage Control for Mobile Anisotropic Sensor Networks

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Hexsel, Bruno Chakraborty, Nilanjan Sycara, Katia Carnegie Mellon Univ Sch Comp Sci Inst Robot Pittsburgh PA 15213 USA

ISBN: (纸本)9781612843858

distributed algorithms for (re)configuring mobile sensors to cover a given area are important for autonomous multi-robot operations in application areas such as surveillance and environmental monitoring. Depending on the assumptions about the choice of the environment, the sensor models, the coverage metric, and the motion models of sensor nodes, there are different versions of the problem that have been formulated and studied. In this paper, we consider a system of holonomic mobile robots equipped with anisotropic sensors (e. g., limited field of view cameras) that are required to cover a polygonal region with polygonal obstacles to detect interesting events. We assume a given probability distribution of the events over a region. Motivated by scenarios where the sensing performance not only depends on the resolution of sensing but also on the relative orientation between the sensing axis and the event, we assume that the probability of detection of an event depends on both sensing parameters and the orientation of observation. We present a distributed gradient-ascent algorithm for reconfiguring the system of mobile robots so that the joint probability of detection of events over the whole region is maximized (i.e., positioning the mobile robots and determining their sensor parameters). As an example case study, we use a system of mobile robots equipped with limited field of view cameras with pan and zoom capabilities. We present simulation results demonstrating the performance of our algorithm.

关键词： distributed coverage Anisotropic Sensing

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