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Self-assembly and self-repair of arbitrary shapes by a swarm of reactive robots: algorithms and simulations

AUTONOMOUS ROBOTS 2010年第2期28卷 197-211页

作者： Arbuckle, D. J. Requicha, A. A. G. Univ So Calif Lab Mol Robot Los Angeles CA 90089 USA

Self-assembly of active, robotic agents, rather than of passive agents such as molecules, is an emerging research field that is attracting increasing attention. Active self-assembly techniques are especially attractive at very small spatial scales, where alternative construction methods are unavailable or have severe limitations. Building nanostructures by using swarms of very simple nanorobots is a promising approach for manufacturing nanoscale devices and systems. The method described in this paper allows a group of simple, physically identical, identically programmed and reactive (i.e., stateless) agents to construct and repair polygonal approximations to arbitrary structures in the plane. The distributed algorithms presented here are tolerant of robot failures and of externally-induced disturbances. The structures are self-healing, and self-replicating in a weak sense. Their components can be re-used once the structures are no longer needed. A specification of vertices at relative positions, and the edges between them, is translated by a compiler into reactive rules for assembly agents. These rules lead to the construction and repair of the specified shape. Simulation results are presented, which validate the proposed algorithms.

关键词： distributed robotics Global-to-local compilation Minimalistic robots Nanorobots Reactive robots Robot swarms Self-assembly Self-organization Self-repair

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

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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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Precise formation of multi-robot systems

Precise formation of multi-robot systems

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IEEE International Conference on System of Systems Engineering

作者： Gifford, Christopher M. Agah, Arvin Univ Kansas CReSIS Lawrence KS 66045 USA

ISBN: (纸本)9781424411597

There are several applications which require high-precision placement of sensors or objects. Unstructured, remote environments make this problem even more complex, where high precision is not attainable using conventional sensors. Some applications have units so sparsely spaced that few options remain. A team of mobile robots can be integrated into such missions, providing a higher level of precision while also removing the human footprint. This paper presents a high-precision, shape-based grid formation scheme for multi-robot systems that can be used in dense or sparse applications. Precision, time, and energy usage are analyzed, and collision risk is briefly discussed.

关键词： multi-robot systems distributed robotics robot formations

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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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Using virtual pheromones and cameras for dispersing a team of multiple miniature robots

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2006年第4期45卷 307-321页

作者： Pearce, Janice L. Powers, Bob Hess, Chistopher Rybski, Paul E. Stoeter, Sascha A. Papanikolopoulos, Nikolaos Univ Minnesota Dept Comp Sci Minneapolis MN 55455 USA Berea Coll Dept Math & Comp Sci Berea KY USA

To safely and efficiently guide personnel of search and rescue operations in disaster areas, swift gathering of relevant information such as the locations of victims, must occur. Using the concept of 'repellent virtual pheromones' inspired by insect colony coordination behaviors, miniature robots can be quickly dispersed to survey a disaster site. Assisted by visual servoing, dispersion of the miniature robots can quickly cover an area. An external observer such as another robot or an overhead camera is brought into the control loop to provide each miniature robot estimations of the positions of all of the other near-by robots in the robotic team. These miniature robots can then move away from the other near-by robots on the team, resulting in the robot collective becoming swiftly distributed through the local area. The technique has been simulated with differing pheromone persistence levels and implemented using the miniature Scout robots, developed by the Center for distributed robotics at the University of Minnesota, which are well-suited to surveillance and reconnaissance missions.

关键词： dispersion distributed robotics mobile robots miniature 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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What is networked robotics?

What is networked robotics?

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3rd International Conference on Informatics in Control, Automation and robotics

作者： McKee, Gerard Univ Reading Sch Syst Engn Act Robot Lab Reading RG6 6AY Berks England

ISBN: (纸本)9728865600

Networked robotics is an area that straddles robotics and network technology. A robot system controlled via the WWW exploits the Internet network and hence is one realisation of networked robotics. A set of field robots that exploit wireless networks to share and distribute tasks might also be considered an exemplar of networked robotics. But isn't this just an exemplar of distributed robotics? And if so, what does networked robotics bring to the 'robotics' table? These are questions and issues addressed in this paper. The paper will propose that networks are at once both enabling and constraining to robotics. They enlarge the scope of the robotics discipline yet introduce challenges that must be overcome if that potential is to be fully realized. In short, when the network becomes a design issue - normally when performance of the system is at a premium - networked robotics is at play.

关键词： networked robotics distributed robotics robot architectures

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Towards component-based robotics

Towards component-based robotics

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Brooks, A Kaupp, T Makarenko, A Williams, S Orebäck, A Univ Sydney Australian Ctr Field Robot ARC Ctr Excellence Autonomous Syst CAS Sydney NSW 2006 Australia

ISBN: (纸本)0780389123

This paper gives an overview of Component-Based Software Engineering (CBSE), motivates its application to the field of mobile robotics, and proposes a particular component model. CBSE is an approach to system-building that aims to shift the emphasis from programming to composing systems from a mixture of off-the-shelf and custom-built software components. This paper argues that robotics is particularly well-suited for and in need of component-based ideas. Furthermore, now is the right time for their introduction. The paper introduces Orca-an open-source component-based software engineering framework proposed for mobile robotics with an associated repository of free, reusable components for building mobile robotic systems.

关键词： distributed robotics robotic architectures component-based design software re-use standardization

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