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High survivability of a large colony through a small-world relationship

ARTIFICIAL LIFE AND robotics 2009年第2期14卷 168-173页

作者： Kubo, Masao Sato, Hiroshi Matsubara, Takashi Melhuish, Chris Natl Def Acad Japan Dept Comp Sci 1 Hashirimizu Yokosuka Kanagawa 2398686 Japan Univ West England Bristol Robot Lab Bristol Avon England Univ Bristol Bristol Avon England

In this article, energy trophallaxis, i.e., distributed autonomous energy management methodology inspired by social insects and bat behavior, and its advantages, are shown by a series of computer simulations to address the survivability of organized groups of agents in a dynamic environment with uncertainty. The uncertainty of the agents' organizational behavior is represented by two Levy distributions. By carefully controlling energy donation behavior based on these distributions, we can examine the survivability of a larger group that traditional methods cannot analyze. As a result, even a small degree of friendship throughout the organization makes the group's survivability improve dramatically.

关键词： Energy autonomy Energy sharing Robot trophallaxis Swarm robotics distributed robotics Critical systems

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Simulation and experimental study of consensus algorithms for multiple mobile robots with information feedback

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INTELLIGENT AUTOMATION AND SOFT COMPUTING 2008年第1期14卷 73-87页

作者： Ren, Wei Cao, Yongcan Utah State Univ Dept Elect & Comp Engn Logan UT 84322 USA

In this paper, we study the problem of consensus building in multi-robot systems with information feedback. We show how information feedback can be incorporated into the consensus building process so as to improve the robustness and situational awareness of the whole team. We detail the strategies of introducing feedback to the consensus building process through information flow, time-varying weights, external feedback terms, and reference states, and perform simulations and experimental studies of these strategies.

关键词： consensus building distributed robotics multi-robot systems cooperative control

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Multi-Agent Task Allocation for Robot Soccer

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JOURNAL OF INTELLIGENT SYSTEMS 2007年第3期16卷 207-240页

作者： Baghaei, Khashayar Agah, Arvin Univ Kansas Dept Elect Engn & Comp Sci Lawrence KS 66045 USA

This paper models and analyzes task allocation methodologies for multiagent systems. The evaluation process was implemented as a collection of simulated soccer matches. A soccer-simulation software package was used as the test-bed as it provided the necessary features for implementing and testing the methodologies. The methodologies were tested through competitions with a number of available soccer strategies. Soccer game scores, communication, robustness, fault-tolerance, and replanning capabilities were the parameters used as the evaluation criteria for the multi-agent systems.

关键词： Multi-agent systems task allocation distributed robotics robot soccer

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distributed assembly with online workload balancing and visual error detection and correction

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INTERNATIONAL JOURNAL OF robotics RESEARCH 2014年第4期33卷 534-546页

作者： Worcester, James Hsieh, M. Ani Lakaemper, Rolf Drexel Univ Mech Engn & Mech Philadelphia PA 19104 USA Temple Univ Philadelphia PA 19122 USA

We consider the assembly of a three-dimensional (3D) structure by a team of heterogeneous robots capable of online sensing and error correction during the assembly process. We build on our previous work and address the partitioning of the assembly task to maximize parallelization of the assembly process. Specifically, we consider 3D structures that can be assembled from a fixed collection of heterogeneous tiles that vary in shapes and sizes. Given a desired 3D structure, we first compute the partition of the assembly strategy into N-a subcomponents that can be executed in parallel by a team of N-a assembly robots. The assembly robots then perform online workload balancing during construction to minimize assembly time. To enable online error detection and correction during the assembly process, mobile robots equipped with visual depth sensors are tasked to scan, identify, and track the state of the structure. The result is a cooperative assembly framework where assembly robots can balance their individual workloads online by trading assembly components while scanning robots detect and reassign missing assembly components online. We present the integration of the planning, sensing, and control strategies employed in our framework and report on the experimental validation of the strategy using our multi-robot testbed.

关键词： distributed robotics assembly networked robots

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Precise assembly of 3D truss structures using MLE-based error prediction and correction

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INTERNATIONAL JOURNAL OF robotics RESEARCH 2015年第13期34卷 1622-1644页

作者： Komendera, Erik Correll, Nikolaus Univ Colorado Dept Comp Sci Boulder CO 80309 USA

We describe a method to construct precise truss structures from non-precise commodity parts. Trusses with precision in the order of micrometers, such as the truss of a space telescope, have previously been built using precisely machined truss connection systems. This approach is expensive, heavy, and prone to failure, e.g. when a single element is lost. In the past, we have proposed a novel concept in which non-precise commodity parts can be aligned using intelligent precision jigging robots and then welded in place. Even when using highly precise sensors and actuators, this approach can still lead to errors due to thermal expansion and structural deformation. In this paper, we describe and evaluate algorithms for generating truss assembly sequences that reduce the expected error by (1) using a heuristic to generate build sequences that reduce the expected variance, and (2) during assembly, estimating the structure's pose using maximum likelihood estimation that combines local measurements by different intelligent precision jigging robots, improves this estimate during loop closures in the construction process, and uses this estimate to correct for errors during construction. We show through simulation and physical experiment that this combined approach reduces assembly error, enabling precision construction with commodity materials. While the model herein is based on truss structures, the proposed methods generalize to a larger class of incremental assembly problems, which exhibit continuous rather than discrete errors.

关键词： Robotic assembly distributed robotics probabilistic robotics maximum likelihood estimation assembly sequence planning

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MATRIX: A Message Passing Interface for MPMD(Multiple Program Multiple Data) Applications on Heterogeneous distributed Network

MATRIX: A Message Passing Interface for MPMD(Multiple Progra...

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

作者： Lee, Dong-Hyuk Moon, Hyungpil Koo, Ja Choon Choi, Hyouk Ryeol Sungkyunkwan Univ Sch Mech Engn Suwon 440746 South Korea

ISBN: (纸本)9781467331104

This paper presents a message passing interface called MATRIX for the MPMD(Multiple Program Multiple Data) type parallel application running on a distributed network. The proposed interface provides network abstraction and peer-to-peer message transfer method to the application layer. The interface is designed to have scalability for a large-scale application. The concurrent application established on the proposed interface can be applied to a heterogeneous distributed network composed of multi-architectures and multi-OS machines. This paper describes the concepts, protocols and implementations of the message passing interface. Additionally, we present the remote file transfer and execution protocol called FTXP for large-scale applications on the message passing interface. For the verification of the proposed methods, we present an example of parallel application applied to a surveillance robot system composed of multi-architecture and multi-OS.

关键词： Message passing interface distributed robotics

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SUPERBOT: A deployable, multi-functional, and modular self-reconfigurable robotic system

SUPERBOT: A deployable, multi-functional, and modular self-r...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Salemi, Behnam Moll, Mark Shen, Wei-Min Univ So Calif Inst Informat Sci Marina Del Rey CA 90292 USA

ISBN: (纸本)9781424402588

Self-reconfigurable robots are modular robots that can autonomously change their shape and size to meet specific operational demands. Recently, there has been a great interest in using self-reconfigurable robots in applications such as reconnaissance, rescue missions, and space applications. Designing and controlling self-reconfigurable robots is a difficult task Hence, the research has primarily been focused on developing systems that can function in a controlled environment. This paper presents a novel self-reconfigurable robotic system called SuperBot, which addresses the challenges of building and controlling deployable self-reconfigurable robots. Six prototype modules have been built and preliminary experimental results demonstrate that SuperBot is a fexible and powerful system that can be used in challenging real-world applications.

关键词： modular robots self-reconfigurable robots distributed robotics deployable robots

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Development and implementation of large-scale micro-robotic forces using formation behaviors

Development and implementation of large-scale micro-robotic ...

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Conference on Unmanned Ground Vehicle Technology III

作者： Dudenhoeffer, DD Bruemmer, DJ Anderson, MO McKay, MD INEEL Idaho Falls ID 83415 USA

ISBN: (纸本)0819440590

Micro-robots may soon be available for deployment by the thousands. Consequently, controlling and coordinating a force this large to accomplish a prescribed task is of great interest. This paper describes a flexible architecture for deploying thousands of autonomous robots simultaneously. The robots' behavior is based on a subsumption architecture in which individual behaviors are prioritized with respect to all others. The primary behavior explored in this paper is group formation behavior drawn from the work in social potential fields applications conducted by Reif and Wang(1), and Dudehoeffer and Jones.(2) While many papers have examined the application of social potential fields in a simulation environment, this paper describes the implementation of this behavior in a collective of small robots.

关键词： robot social potential field online learning swarm behavior distributed robotics DOE RIM

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A Force-Mediated Controller for Cooperative Object Manipulation with Independent Autonomous Robots 1

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16th International Symposium on distributed Autonomous Robotic Systems (DARS)

作者： Carey, Nicole E. Werfel, Justin Autodesk Inc Autodesk Robot Lab San Francisco CA 94105 USA Harvard Univ Harvard John A Paulson Sch Engn & Appl Sci Boston MA 02115 USA

ISBN: (数字)9783031514975

ISBN: (纸本)9783031537035;9783031514975;9783031514968

We consider cooperative manipulation by multiple robots assisting a leader, when information about the manipulation task, environment, and team of helpers is unavailable, and without the use of explicit communication. The shared object being manipulated serves as a physical channel for coordination, with robots sensing forces associated with its movement. Robots minimize force conflicts, which are unavoidable under these restrictions, by inferring an intended context: decomposing the object's motion into a task space of allowed motion and a null space in which perturbations are rejected. The leader can signal a change in context by applying a sustained strong force in an intended new direction. We present a controller, prove its stability, and demonstrate its utility through experiments with (a) an in-lab force-sensitive robot assisting a human operator and (b) a multi-robot collective in simulation.

关键词： robot cooperation distributed robotics manipulation force-based control

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Modular client/server architecture in multipurpose manufacturing cells

Modular client/server architecture in multipurpose manufactu...

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8th International Conference on Advanced robotics (ICAR 97)

作者： Marino, P Poza, F Nogueira, J Univ of Vigo Vigo Spain

ISBN: (纸本)0780341600

Shop floor communications networks are evolving towards the increased use of open connecting equipment, that meets standard protocols, under a client/server architecture. An implementation of a such communications server, based in a low cost PC with multiport and field bus cards, is presented. The first prototype has been designed as a black box transparent to flexible manufacturing plants, connecting until sixteen scara robots and thirty programmable logic controllers.

关键词： industrial communications integrated information systems distributed robotics flexible manufacturing systems

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