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Solving the task variant allocation problem in distributed robotics

AUTONOMOUS ROBOTS 2018年第7期42卷 1477-1495页

作者： Cano, Jose White, David R. Bordallo, Alejandro McCreesh, Ciaran Michala, Anna Lito Singer, Jeremy Nagarajan, Vijay Univ Edinburgh Sch Informat Edinburgh EH8 9AB Midlothian Scotland Univ Glasgow Sch Comp Sci Glasgow G12 8RZ Lanark Scotland UCL Dept Comp Sci London WC1E 6BT England

We consider the problem of assigning software processes (or tasks) to hardware processors in distributed robotics environments. We introduce the notion of a task variant, which supports the adaptation of software to specific hardware configurations. Task variants facilitate the trade-off of functional quality versus the requisite capacity and type of target execution processors. We formalise the problem of assigning task variants to processors as a mathematical model that incorporates typical constraints found in robotics applications;the model is a constrained form of a multi-objective, multi-dimensional, multiple-choice knapsack problem. We propose and evaluate three different solution methods to the problem: constraint programming, a constructive greedy heuristic and a local search metaheuristic. Furthermore, we demonstrate the use of task variants in a real instance of a distributed interactive multi-agent navigation system, showing that our best solution method (constraint programming) improves the system's quality of service, as compared to the local search metaheuristic, the greedy heuristic and a randomised solution, by an average of 16, 31 and 56% respectively.

关键词： Task allocation distributed robotics Multi-robot systems Multi-objective optimisation

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Koord: A Language for Programming and Verifying distributed robotics Application

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PROCEEDINGS OF THE ACM ON PROGRAMMING LANGUAGES-PACMPL 2020年第OOPSLA期4卷 1–30页

作者： Ghosh, Ritwika Hsieh, Chiao Misailovic, Sasa Mitra, Sayan Univ Illinois Urbana IL 61801 USA

A robot's code needs to sense the environment, control the hardware, and communicate with other robots. Current programming languages do not provide suitable abstractions that are independent of hardware platforms. Currently, developing robot applications requires detailed knowledge of signal processing, control, path planning, network protocols, and various platform-specific details. Further, porting applications across hardware platforms remains tedious. We present Koord a domain specific language for distributed robotics which abstracts platform-specific functions for sensing, communication, and low-level control. Koord makes the platform-independent control and coordination code portable and modularly verifiable. Koord raises the level of abstraction in programming by providing distributed shared memory for coordination and port interfaces for sensing and control. We have developed the formal executable semantics of Koord in the K framework. With this symbolic execution engine, we can identify assumptions (proof obligations) needed for gaining high assurance from Koord applications. We illustrate the power of Koord through three applications: formation flight, distributed delivery, and distributed mapping. We also use the three applications to demonstrate how platform-independent proof obligations can be discharged using the Koord Prover while platform-specific proof obligations can be checked by verifying the obligations using physics-based models and hybrid verification tools.

关键词： distributed robotics Programming Language for robotics

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ppPDC Communication Framework - A New Tool for distributed robotics

ppPDC Communication Framework - A New Tool for Distributed R...

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1st International Conference on Simulation, Modeling, and Programming for Autonomous Robots

作者： Polakow, Grzegorz Metzger, Mieczyslaw Silesian Tech Univ Fac Automat Control Elect & Comp Sci PL-44100 Gliwice Poland

ISBN: (纸本)9783540890751

Parallel processing Producer-Distributor-Consumer (ppPDC) transmission scenario is proposed and developed for improving communication features of the Ethernet-based switched industrial networks. First version of ppPDC-based communication infrastructure was developed in the LabVIEW graphical programming platform as a flexible and low cost framework. Further development of the framework turned it into a fully functional real-time middleware, which has the main advantage of running the message processing in the protocol stacks in parallel, thus minimising the impact of nodes processing times on network efficiency. The proposed ppPDC-based communication infrastructure, amongst many other possible uses such as intelligent multiagent systems, can be well-suited in distributed robotics.

关键词： communication infrastructure distributed robotics middleware for robotics producer-distributor-consumer real-time ethernet

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Theseus: Tethered distributed robotics (TDR)

Theseus: Tethered Distributed Robotics (TDR)

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Conference on Unmanned Ground Vehicle Technology V

作者： Digney, BL Penzes, S Def Res & Dev Canada Suffield England

ISBN: (纸本)0819449423

The Defence Research and Development Canada's (DRDC) Autonomous Intelligent System's program conducts research to increase the independence and effectiveness of military vehicles and systems. DRDC-Suffield's Autonomous Land Systems (ALS) is creating new concept vehicles and autonomous control systems for use in outdoor areas, urban streets, urban interiors and urban subspaces. This paper will first give an overview of the ALS program and then give a specific description of the work being done for mobility in urban subspaces. Discussed will be the Theseus: Tethered distributed robotics (TDR) system, which will not only manage an unavoidable tether but exploit it for mobility and navigation. Also discussed will be the prototype robot called the Hedgehog, which uses conformal 3D mobility in ducts, sewer pipes, collapsed rubble voids and chimneys.

关键词： urban operations urban search and rescue mobility distributed robotics

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distributed robotics Education

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JOURNAL OF robotics AND MECHATRONICS 2011年第5期23卷 859-870页

作者： Lund, Henrik Hautop Pagliarini, Luigi Tech Univ Denmark Ctr Playware Bldg 325 DK-2800 Lyngby Denmark

distributed robotics takes many forms, for instance, multirobots, modular robots, and self-reconfigurable robots. The understanding and development of such advanced robotic systems demand extensive knowledge in engineering and computer science. In this paper, we describe the concept of a distributed educational system as a valuable tool for introducing students to interactive parallel and distributed processing programming as the foundation for distributed robotics and human-robot interaction development. This is done by providing an educational tool that enables problem representation to be changed, related to multirobot control and human-robot interaction control from virtual to physical representation. The proposed system is valuable for bringing a vast number of issues into education - such as parallel programming, distribution, communication protocols, master dependency, connectivity, topology, island modeling software behavioral models, adaptive interactivity, feedback, and user interaction. We show how the proposed system can be considered a tool for easy, fast, flexible hands-on exploration of these distributed robotic issues. Through examples, we show how to implement interactive parallel and distributed processing in robotics with different software models such as open-loop, randomness-based, rule-based, user-interaction-based, AI- and ALife-based, and morphology-based control.

关键词： educational tool distributed robotics parallel processing agent-based robotics playware

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DRONA: A Framework for Safe distributed Mobile robotics 17

DRONA: A Framework for Safe Distributed Mobile Robotics

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8th ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS) held as part of Cyber-Physical Systems Week

作者： Desai, Ankush Saha, Indranil Yang, Jianqiao Qadeer, Shaz Seshia, Sanjit A. Univ Calif Berkeley Berkeley CA 94720 USA Indian Inst Technol Kanpur Uttar Pradesh India Microsoft Res Redmond WA USA

ISBN: (纸本)9781450349659

distributed mobile robotics (DMR) involves teams of networked robots navigating in a physical space to achieve tasks in a coordinated fashion. A major challenge in DMR is to program the ensemble of robots with formal guarantees and high assurance of correct operation. To this end, we introduce DRONA, a framework for building reliable DMR applications. This paper makes three central contributions: (1) We present a novel and provably correct decentralized asynchronous motion planner that can perform on-the-fly collision-free planning for dynamically generated tasks. Moreover, the motion planner is the first to take into account the fact that distributed robots may have clocks that are only synchronized up to a tolerance, i.e., they are almost synchronous;(2) We formalize the DMR system as a mixed-synchronous system, and present a sound abstraction-based verification approach for DMR systems, and (3) DRONA provides a state-machine based language for safe event-driven programming of a DMR system and the code generated by the compiler can be executed on platforms such as the robot operating system (ROS). To demonstrate the efficacy of DRONA, we build and verify a priority mail delivery system. Using our abstraction-based verification approach we were able to find, within a few minutes, bugs which could not be found by performing random simulation for several hours. Our verified decentralized motion-planner scales efficiently for large number of robots (upto 128 robots) and workspace sizes (upto a 256x256 grid).

关键词： distributed robotics Verification Programming Language for robotics Safe Mobile robotics Multi-Robot Motion Planning

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Edge Accelerated Robot Navigation With Collaborative Motion Planning

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2025年第2期30卷 1166-1178页

作者： Li, Guoliang Han, Ruihua Wang, Shuai Gao, Fei Eldar, Yonina C. Xu, Chengzhong Univ Macau Dept Comp & Informat Sci State Key Lab Internet Things Smart City SKL IOTSC Macau 999078 Peoples R China Univ Hong Kong Dept Comp Sci Hong Kong Peoples R China Chinese Acad Sci Shenzhen Inst Adv Technol Shenzhen 518055 Peoples R China Zhejiang Univ State Key Lab Ind Control Technol Hangzhou 310027 Zhejiang Peoples R China Zhejiang Univ Huzhou Inst Hangzhou 310027 Zhejiang Peoples R China Weizmann Inst Sci Fac Math & Comp Sci IL-7610001 Rehovot Israel

Low-cost distributed robots suffer from limited onboard computing power, resulting in excessive computation time when navigating in cluttered environments. This article presents Edge Accelerated Robot Navigation (EARN), to achieve real-time collision avoidance by adopting collaborative motion planning. As such, each robot can dynamically switch between a conservative motion planner executed locally to guarantee safety (e.g., path-following) and an aggressive motion planner executed nonlocally to guarantee efficiency (e.g., overtaking). In contrast to existing motion planning approaches that ignore the interdependency between low-level motion planning and high-level resource allocation, EARN adopts model predictive switching (MPS) that maximizes the expected switching gain with respect to robot states and actions under computation and communication resource constraints. The MPS problem is solved by a tightly coupled decision making and motion planning framework based on bilevel mixed-integer nonlinear programming and penalty dual decomposition. We validate the performance of EARN in indoor simulation, outdoor simulation, and real-world environments. Experiments show that EARN achieves significantly smaller navigation time and higher success rates than state-of-the-art navigation approaches.

关键词： Collaborative computing distributed robotics model predictive switching (MPS) motion planning Collaborative computing distributed robotics model predictive switching (MPS) motion planning

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Multirobot Tree and Graph Exploration

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IEEE TRANSACTIONS ON robotics 2011年第4期27卷 707-717页

作者： Brass, Peter Cabrera-Mora, Flavio Gasparri, Andrea Xiao, Jizhong CUNY City Coll Dept Comp Sci New York NY 10031 USA CUNY City Coll Dept Elect Engn New York NY 10031 USA CUNY Grad Ctr New York NY 10016 USA CUNY City Coll Dept Elect Engn New York NY 10016 USA Univ Rome Roma Tre Dept Comp Sci I-00146 Rome Italy

In this paper, we present an algorithm for the exploration of an unknown graph by multiple robots, which is never worse than depth-first search with a single robot. On trees, we prove that the algorithm is optimal for two robots. For k robots, the algorithm has an optimal dependence on the size of the tree but not on its radius. We believe that the algorithm performs well on any tree, and this is substantiated by simulations. For trees with e edges and radius r, the exploration time is less than 2e/k + (1 + (k/r))(k-1) (2/k!)r(k-1) = (2e/k) + O((k + r)(k-1)) (for r > k, <= (2e/k) + 2r(k-1)), thereby improving a recent method with time O((e/log k) + r) [2], and almost reaching the lower bound max((2e/k), 2r). The model underlying undirected-graph exploration is a set of rooms connected by opaque passages;thus, the algorithm is appropriate for scenarios like indoor navigation or cave exploration. In this framework, communication can be realized by bookkeeping devices being dropped by the robots at explored vertices, the states of which are read and changed by further visiting robots. Simulations have been performed in both tree and graph explorations to corroborate the mathematical results.

关键词： distributed robotics mapping multirobot exploration path planning

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Swarm-bot: A new distributed robotic concept

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AUTONOMOUS ROBOTS 2004年第2-3期17卷 193-221页

作者： Mondada, F Pettinaro, GC Guignard, A Kwee, IW Floreano, D Deneubourg, JL Nolfi, S Gambardella, LM Dorigo, M Ecole Polytech Fed Lausanne Autonomous Syst Lab CH-1015 Lausanne Switzerland IDSIA USI SUPSI Manno Lugano Switzerland Free Univ Brussels CENOLI B-1050 Brussels Belgium CNR Inst Cognit Sci & Technol Lab Artificial Life & Robot Rome Italy Free Univ Brussels IRIDIA B-1050 Brussels Belgium Lumsa Univ Rome Italy

The swarm intelligence paradigm has proven to have very interesting properties such as robustness, flexibility and ability to solve complex problems exploiting parallelism and self-organization. Several robotics implementations of this paradigm confirm that these properties can be exploited for the control of a population of physically independent mobile robots. The work presented here introduces a new robotic concept called swarm-bot in which the collective interaction exploited by the swarm intelligence mechanism goes beyond the control layer and is extended to the physical level. This implies the addition of new mechanical functionalities on the single robot, together with new electronics and software to manage it. These new functionalities, even if not directly related to mobility and navigation, allow to address complex mobile robotics problems, such as extreme all-terrain exploration. The work shows also how this new concept is investigated using a simulation tool (swarmbot3d) specifically developed for quickly designing and evaluating new control algorithms. Experimental work shows how the simulated detailed representation of one s-bot has been calibrated to match the behaviour of the real robot.

关键词： swarm intelligence swarm robotics distributed robotics reconfigurable robotics collective robotics physics-based simulation

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Multi-level spatial modeling for stochastic distributed robotic systems

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INTERNATIONAL JOURNAL OF robotics RESEARCH 2011年第5期30卷 574-589页

作者： Prorok, Amanda Correll, Nikolaus Martinoli, Alcherio Ecole Polytech Fed Lausanne Distributed Intelligent Syst & Algorithms Lab Sch Architecture Civil & Environm Engn CH-1015 Lausanne Switzerland Univ Colorado Dept Comp Sci Boulder CO 80309 USA

We propose a combined spatial and non-spatial probabilistic modeling methodology motivated by an inspection task performed by a group of miniature robots. Our models explicitly consider spatiality and yield accurate predictions on system performance. An agent's spatial distribution over time is modeled by the Fokker-Planck diffusion model and complements current non-spatial microscopic and macroscopic models that model the discrete state distribution of a distributed robotic system. We validate our models on a microscopic level based on sub-microscopic, embodied robot simulations as well as real robot experiments. Subsequently, using the validated microscopic models as our template, abstraction is raised to the level of macroscopic difference equations. We discuss the dependency of the modeling performance on the distance from the robot origin (drop-off location) and temporal convergence of the team distribution. Also, using an asymmetric setup, we show the necessity of spatial modeling methodologies for environments where the robotic platform underlies drift phenomena.

关键词： distributed intelligent systems distributed robotics probabilistic modeling swarm intelligence

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