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Hierarchical reinforcement learning via dynamic subspace search for multi-agent planning

AUTONOMOUS ROBOTS 2020年第3-4期44卷 485-503页

作者： Ma, Aaron Ouimet, Michael Cortes, Jorge Univ Calif San Diego Dept Mech & Aerosp Engn La Jolla CA 92093 USA Naval Informat Warfare Ctr Pacific San Diego CA USA

We consider scenarios where a swarm of unmanned vehicles (UxVs) seek to satisfy a number of diverse, spatially distributed objectives. The UxVs strive to determine an efficient plan to service the objectives while operating in a coordinated fashion. We focus on developing autonomous high-level planning, where low-level controls are leveraged from previous work in distributed motion, target tracking, localization, and communication. We rely on the use of state and action abstractions in a Markov decision processes framework to introduce a hierarchical algorithm, Dynamic Domain Reduction for Multi-Agent Planning, that enables multi-agent planning for large multi-objective environments. Our analysis establishes the correctness of our search procedure within specific subsets of the environments, termed 'sub-environment' and characterizes the algorithm performance with respect to the optimal trajectories in single-agent and sequential multi-agent deployment scenarios using tools from submodularity. Simulated results show significant improvement over using a standard Monte Carlo tree search in an environment with large state and action spaces.

关键词： Reinforcement learning Multi-agent planning distributed robotics Semi-Markov decision processes Markov decision processes Upper confidence bound tree search Hierarchical planning Hierarchical Markov decision processes Model-based reinforcement learning Swarm robotics Dynamic domain reduction Submodularity

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distributed multi-robot formation control under dynamic obstacle interference

Distributed multi-robot formation control under dynamic obst...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

作者： Hu, Jiawei Sun, Jiaze Zou, Zhengyang Ji, Diwei Xiong, Zhenhua Shanghai Jiao Tong Univ Sch Mech Engn Shanghai Peoples R China

ISBN: (纸本)9781728167947

When multi-robot systems are keeping formations in dynamic environments, dynamic obstacles may occasionally enter the formations. Under this interference, the sight of robots may be blocked and the collision may occur, thus the topology of the formation may also change. Inspired by shoals of fish fleeing dolphin predation, a novel distributed formation control method based on the artificial potential field (APF) and distributed consensus has been proposed. For dynamic obstacles, we extend the velocity potential field in the velocity direction of the obstacles. By combining the formation speed and the collision avoidance speed, the flexible switching of the formation maintenance and obstacle avoidance can be realized. The experiment results show that the teams can maintain the original formation as much as possible or they can divide into sub-formations to avoid collision and finally reconvene.

关键词： Multi-robot system Formation control Collision avoidance Dynamic environments distributed robotics

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distributed multi-robot formation control in dynamic environments

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AUTONOMOUS ROBOTS 2019年第5期43卷 1079-1100页

作者： Alonso-Mora, Javier Montijano, Eduardo Nageli, Tobias Hilliges, Otmar Schwager, Mac Rus, Daniela Delft Univ Technol Dept Cognit Robot Mekelweg 2 NL-2628 CD Delft Netherlands Univ Zaragoza Inst Invest Ingn Aragon Zaragoza Spain Swiss Fed Inst Technol Dept Comp Sci Zurich Switzerland Stanford Univ Dept Aeronaut & Astronaut Stanford CA 94305 USA MIT Comp Sci & Artificial Intelligence Lab 32 Vassar St Cambridge MA 02139 USA

This paper presents a distributed method for formation control of a homogeneous team of aerial or ground mobile robots navigating in environments with static and dynamic obstacles. Each robot in the team has a finite communication and visibility radius and shares information with its neighbors to coordinate. Our approach leverages both constrained optimization and multi-robot consensus to compute the parameters of the multi-robot formation. This ensures that the robots make progress and avoid collisions with static and moving obstacles. In particular, via distributed consensus, the robots compute (a) the convex hull of the robot positions, (b) the desired direction of movement and (c) a large convex region embedded in the four dimensional position-time free space. The robots then compute, via sequential convex programming, the locally optimal parameters for the formation to remain within the convex neighborhood of the robots. The method allows for reconfiguration. Each robot then navigates towards its assigned position in the target collision-free formation via an individual controller that accounts for its dynamics. This approach is efficient and scalable with the number of robots. We present an extensive evaluation of the communication requirements and verify the method in simulations with up to sixteen quadrotors. Lastly, we present experiments with four real quadrotors flying in formation in an environment with one moving human.

关键词： Multi-robot systems distributed robotics Formation control Dynamic environments Collision avoidance Unmanned aerial vehicles Drones Micro air vehicles

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A Wearable General-Purpose Solution for Human-Swarm Interaction

A Wearable General-Purpose Solution for Human-Swarm Interact...

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Future Technologies Conference (FTC)

作者： Ferrer, Eduardo Castello MIT Media Lab Cambridge MA 02139 USA

ISBN: (纸本)9783030026837;9783030026820

Swarms of robots will revolutionize many industrial applications, from targeted material delivery to precision farming. Controlling the motion and behavior of these swarms presents unique challenges for human operators, who cannot yet effectively convey their high-level intentions to a group of robots in application. This position paper proposes a new human-swarm interface based on novel wearable gesture-control and haptic-feedback devices. This position paper seeks to combine a wearable gesture recognition device that can detect high-level intentions, a portable device that can detect Cartesian information and finger movements, and a wearable advanced haptic device that can provide real-time feedback. This project is the first to envisage a wearable Human-Swarm Interaction (HSI) interface that separates the input and feedback components of the classical control loop (input, output, feedback), as well as being the first of its kind suitable for both indoor and outdoor environments.

关键词： Swarm robotics distributed robotics Human-swarm interaction Human-robot interaction Swarm Intelligence Collective Behavior Wearable technology

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The Blockchain: A New Framework for Robotic Swarm Systems

The Blockchain: A New Framework for Robotic Swarm Systems

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Future Technologies Conference (FTC)

作者： Ferrer, Eduardo Castello MIT Media Lab Cambridge MA 02139 USA

ISBN: (纸本)9783030026837;9783030026820

Swarms of robots will revolutionize many industrial applications, from targeted material delivery to precision farming. However, several of the heterogeneous characteristics that make them ideal for certain future applications-robot autonomy, decentralized control, collective emergent behavior, etc.-hinder the evolution of the technology from academic institutions to real-world problems. Blockchain, an emerging technology originated in the Bitcoin field, demonstrates that by combining peer-to-peer networks with cryptographic algorithms a group of agents can reach an agreement on a particular state of affairs and record that agreement without the need for a controlling authority. The combination of blockchain with other distributed systems, such as robotic swarm systems, can provide the necessary capabilities to make robotic swarm operations more secure, autonomous, flexible and even profitable. This position paper explains how blockchain technology can provide innovative solutions to four emergent issues in the swarm robotics research field. New security, decision making, behavior differentiation and business models for swarm robotic systems are described by providing case scenarios and examples. Finally, limitations and possible future problems that arise from the combination of these two technologies are described.

关键词： Swarm robotics distributed robotics Decentralised systems Blockchain Smart Contracts Swarm Intelligence Collective Behavior New business models

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Adaptive Design and Analysis of Starvation Free Controller Area Network for Multi-Robot System: Barrier Synchronization Technique Applied 2018

Adaptive Design and Analysis of Starvation Free Controller A...

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6th International Conference on Control, Mechatronics and Automation (ICCMA)

作者： Kimm, Haklin Kimm, Hanke East Stroudsburg Univ Penn Dept Comp Sci East Stroudsburg PA 18301 USA

ISBN: (纸本)9781450365635

The Controller Area Network (CAN) is a message based event triggered communication service, and primarily applied in automotive and various industries such as vehicles, multi-robot, real-time communication systems and others. The CAN bus connects several independent CAN modules and allows them to communicate and work together asynchronously and/or synchronously. All nodes can simultaneously transmit data to the CAN bus, and the collision of multiple messages on the bus is resolved by a bitwise arbitration algorithm, which operates by assigning a node with low-priority message to switch to a "listening" mode while a node with high-priority message remains in a "transmitting" mode. This arbitration mechanism results in the starvation of lower priority messages. Previous studies resolving the CAN starvation problem have been mostly focused on the arbitration between two nodes, not considering simultaneous transmission of two or more nodes. In this paper, we present a starvation free CAN model that resolves the arbitration of multiple simultaneous transmission of two or more messages.

关键词： controller Area Network distributed robotics Starvation-free scheduling Barrier synchronization

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Gradual Collective Upgrade of a Swarm of Autonomous Buoys for Dynamic Ocean Monitoring

Gradual Collective Upgrade of a Swarm of Autonomous Buoys fo...

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Conference on OCEANS MTS/IEEE Charleston

作者： Vallegra, Francesco Mateo, David Tokic, Grgur Bouffanais, Roland Yue, Dick K. P. Singapore Univ Technol & Design SUTD MIT Int Design Ctr Singapore Singapore Singapore Univ Technol & Design Engn Prod Dev Singapore Singapore MIT Dept Mech Engn Cambridge MA 02139 USA

ISBN: (纸本)9781538648148

Swarms of autonomous surface vehicles equipped with environmental sensors and decentralized communications bring a new wave of attractive possibilities for the monitoring of dynamic features in oceans and other waterbodies. However, a key challenge in swarm robotics design is the efficient collective operation of heterogeneous systems. We present both theoretical analysis and field experiments on the responsiveness in dynamic area coverage of a collective of 22 autonomous buoys, where 4 units are upgraded to a new design that allows them to move 80% faster than the rest. This system is able to react on timescales of the minute to changes in areas on the order of a few thousand square meters. We have observed that this partial upgrade of the system significantly increases its average responsiveness, without necessarily improving the spatial uniformity of the deployment. These experiments show that the autonomous buoy designs and the cooperative control rule described in this work provide an efficient, flexible, and scalable solution for the pervasive and persistent monitoring of water environments.

关键词： distributed robotics Collective behavior Autonomous surface vehicle Dynamic area coverage

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Exploiting Asynchrony in Multi-agent Consensus to Change the Agreement Point 17

Exploiting Asynchrony in Multi-agent Consensus to Change the...

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17th International Conference on Autonomous Agents and MultiAgent Systems (AAMAS)

作者： Nagavalli, Sasanka Sundar, Ramitha Sycara, Katia Carnegie Mellon Univ Pittsburgh PA 15213 USA

ISBN: (纸本)9781450356497

Reaching agreement through consensus is fundamental to the operation of distributed systems such as sensor networks, social networks or multi-robot networks. Consensus requires agents in the system to reach an agreement over a variable of interest only through local interactions. In real systems, limitations in resources available to the individual agents and delays in communication typically result in asynchronous discrete time control models for consensus. In this paper, we model the problem where an adversary (or a friend) can exploit asynchrony in updates in a group of agents that use the same control law. By modifying the update frequency of a subset of the agents, the adversary (or friend) can change the final value that the system agrees on.

关键词： robot communication and teamwork networked robot/sensor systems distributed robotics swarms and collective behavior

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The Complete Visibility Problem for Fat Robots with Lights 18

The Complete Visibility Problem for Fat Robots with Lights

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19th International Conference on distributed Computing and Networking (ICDCN)

作者： Sharma, Gokarna Alsaedi, Rusul Busch, Costas Mukhopadhyay, Supratik Kent State Univ Kent OH 44242 USA Louisiana State Univ Baton Rouge LA 70803 USA

ISBN: (纸本)9781450363723

We consider the distributed setting of N autonomous mobile robots that operate in Look-Compute-Move cycles and communicate with other robots using colored lights (the robots with lights model). We study the fundamental problem of repositioning N autonomous robots on a plane so that each robot is visible to all others (the COMPLETE VISIBILITY problem) on this model. We consider obstructed visibility under which a robot cannot see another robot if a third robot is positioned between then on the straight line connecting them. The literature solves this problem on the robots with lights model for point robots. In this paper, we study this problem, for the very first time, on the robots with lights model for fat robots, i.e., the robots which have physical extents. In particular, we present and analyze an algorithm for the fat robots of unit disc size extents that solves COMPLETE VISIBILITY in O(N) time using 9 colors in the fully synchronous setting avoiding robot collisions.

关键词： Complete visibility Mutual visibility Fat robots Obstructed visibility Collisions Robots with lights Runtime distributed robotics

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The Internet of Robotic Things: A review of concept, added value and applications

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INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 2018年第1期15卷

作者： Simoens, Pieter Dragone, Mauro Saffiotti, Alessandro Univ Ghent Imec IDLab Technol Pk 15 B-9052 Ghent Belgium Heriot Watt Univ Res Inst Signals Sensors & Syst ISSS Edinburgh Midlothian Scotland Orebro Univ Ctr Appl Autonomous Sensor Syst Orebro Sweden

The Internet of Robotic Things is an emerging vision that brings together pervasive sensors and objects with robotic and autonomous systems. This survey examines how the merger of robotic and Internet of Things technologies will advance the abilities of both the current Internet of Things and the current robotic systems, thus enabling the creation of new, potentially disruptive services. We discuss some of the new technological challenges created by this merger and conclude that a truly holistic view is needed but currently lacking.

关键词： Internet of Things cyber-physical systems distributed robotics network robot systems autonomous systems robot ecology

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