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检索条件"主题词=Distributed robotics"

共 70 条记录，以下是51-60 订阅

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Multi-robot learning in an inherently cooperative task

Multi-robot learning in an inherently cooperative task

引用

Conference on Unmanned Ground Vehicle Technology III

作者： Parker, LE Touzet, C Oak Ridge Natl Lab Div Math & Comp Sci Ctr Engn Sci Adv Res Oak Ridge TN 37831 USA

ISBN: (纸本)0819440590

An important need in multi-robot systems is the development of mechanisms that enable robot teams to autonomously generate cooperative behaviors. This paper first briefly presents the Cooperative Multi-robot Observation of Multiple Moving Targets (CMOMMT) application as a rich domain for studying the issues of multi-robot learning of new behaviors. We discuss the results of our hand-generated algorithm for CMOMMT, and then describe our research in generating multi-robot learning techniques for the CMOMMT application, comparing the results to the hand-generated solutions. Our results show that, while the learning approach performs better than random, naive approaches, much room still remains to match the results obtained from the hand-generated approach. The ultimate goal of this research is to develop techniques for multi-robot learning and adaptation that, will generalize to cooperative robot applications in many domains., thus facilitating the practical use of multi-robot teams in a wide variety of real-world applications.

关键词： multi-robot learning cooperative. robotics inherently cooperative tasks distributed robotics

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The Blockchain: A New Framework for Robotic Swarm Systems

The Blockchain: A New Framework for Robotic Swarm Systems

引用

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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Towards component-based robotics

Towards component-based robotics

引用

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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Multi-robot communication via grid services

Multi-robot communication via grid services

引用

10th IASTED International Conference on robotics and Applications

作者： Sekmen, A Tennessee State Univ Dept Comp Sci Nashville TN 37209 USA

ISBN: (纸本)0889864381

In this research, a new communication and information sharing mechanism for a very large group of mobile robots has been developed and tested successfully. This system also enables robots to share their computational resources. Grid Services technology is used in design and the Globus Toolkit3.0 has been utilized in implementation. A mobile robot can ask assistance from some other mobile robots in order to coordinate a task involving multiple mobile robots. Such a system is crucial especially when very large number (hundreds or thousands) of robots need to communicate and share resources. Several mobile robots with very rich sensory capabilities have been used to test the developed system.

关键词： mobile robot communication grid services robot control distributed robotics

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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...

引用

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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Agents that Live in Robots: How are successful applications built?

Agents that Live in Robots: How are successful applications ...

引用

4th International Workshop on Robot Motion and Control

作者： Wieczerzak, G Kozlowski, K Poznan Univ Tech Inst Control & Syst Engn PL-60965 Poznan Poland

ISBN: (纸本)8371432720

Agent technology has today a wide spectrum of possible applications. It is easy to notice many examples of agents in different branches: economics, management, manufacturing, telecommunication, robotics, entertainment, to list a few. However, this technology is not mature enough yet to give precise predictions about success or failure of an agent-based project. This paper tries to demonstrate the current state of the agent technology. We describe important features of existing multi-agent paradigms to start some discussion on their suitability and applicability in robotic applications.

关键词： multi-agent systems software engineering distributed robotics

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Precise formation of multi-robot systems

Precise formation of multi-robot systems

引用

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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A mobile robot platform with DSP-based controller and omnidirectional vision system

A mobile robot platform with DSP-based controller and omnidi...

引用

IEEE International Conference on robotics and Biomimetics (ROBIO 2004)

作者： Xiao, JZ Calle, A Ye, J Zhu, ZG CUNY City Coll Dept Elect Engn New York NY 10031 USA

ISBN: (纸本)0780386418

This paper describes a mobile robot platform built entirely from commercial off-the-shelf (COST) components. The design explicitly aims at enabling research in robot navigation, multi-robot coordination, and distributed robotics. The platform must meet many criteria including low cost, simple fabrication, and a sensor/actuator suite that facilitate navigation and localization. We use state-of-the-art digital signal processor (DSP) from Texas Instruments (TI) to design the control system because of its high-speed performance, its support for multi-motor control, and its low power consumption. An omnidirectional vision system is implemented to facilitate vision-based multiple robot coordination. Future research directions using the mobile robot platform are outlined.

关键词： distributed robotics mobile robot digital sipal processor omnidirectional vision

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MarSim, a Simulation of the MarsuBots Fleet Using NetLogo 1

引用

12th International Symposium on distributed Autonomous Robotic Systems (DARS)

作者： Martinez, David Leal Halme, Aarne Aalto Univ Sch Elect Engn Dept Automat & Syst Technol Otaniementie 17 Espoo Finland

ISBN: (数字)9784431558798

ISBN: (纸本)9784431558798;9784431558774

The Marsubots fleet is an heterogeneous robot fleet consisting of Marsus and Motherbots, the purpose of this fleet is to explore previously unexplored areas as well as partially explored areas or areas that have suffered alterations. In order to be able to explore large areas such as large buildings and open spaces, the robots need to recharge their batteries from the Motherbot's recharging bay. This paper focuses on describing the simulation environment MarSim that has been created using NetLogo to model the fleet in order to be able to use tools like Genetic Algorithms to refine the parameters that have been identified as key parameters for the robots to complete the task at hand successfully, specially after a large amount of recharge cycles.

关键词： distributed robotics MarsuBots NetLogo Power management Recharging

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Decentralized Risk-Aware Tracking of Multiple Targets 16th

Decentralized Risk-Aware Tracking of Multiple Targets

引用

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

作者： Liu, Jiazhen Zhou, Lifeng Ramachandran, Ragesh Sukhatme, Gaurav S. Kumar, Vijay Univ Penn Philadelphia PA 19104 USA Univ Southern Calif Los Angeles CA 90007 USA

ISBN: (纸本)9783031537035;9783031514975;9783031514968

We consider the setting where a team of robots is tasked with tracking multiple targets with the following property: approaching the targets enables more accurate target position estimation, but also increases the risk of sensor failures. Therefore, it is essential to address the trade-off between tracking quality maximization and risk minimization. In the previous work [1], a centralized controller is developed to plan motions for all the robots - however, this is not a scalable approach. Here, we present a decentralized and risk-aware multi-target tracking framework, in which each robot plans its motion trading off tracking accuracy maximization and aversion to risk, while only relying on its own information and information exchanged with its neighbors. We use the control barrier function to guarantee network connectivity throughout the tracking process. Extensive numerical experiments demonstrate that our system can achieve similar tracking accuracy and risk-awareness to its centralized counterpart.

关键词： distributed robotics multi-target tracking risk-awareness connectivity maintenance

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