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Concurrent Control of Mobility and Communication in Multirobot systems

IEEE TRANSACTIONS ON robotICS 2017年第5期33卷 1248-1254页

作者： Stephan, James Fink, Jonathan Kumar, Vijay Ribeiro, Alejandro Univ Penn Dept Elect & Syst Engn Philadelphia PA 19104 USA US Army Res Lab Adelphi MD 20783 USA

We develop a hybrid system architecture that enables a team of mobile robots to complete a task in a complex environment by self-organizing into a multihop ad hoc network and solving the concurrent communication and mobility problem. The proposed system consists of a two-layer feedback loop. An outer loop performs infrequent global coordination and a local inner loop determines motion and communication variables. This system provides the lightweight coordination and responsiveness of decentralized systems while avoiding local minima. This allows a team to complete a task in complex environments while maintaining desired end-to-end data rates. The behavior of the system is evaluated in experiments that demonstrate: 1) successful task completion in complex environments;2) achievement of equal or greater end-to-end data rates as compared to a centralized system;and 3) robustness to unexpected events such as motion restriction.

关键词： Distributed robot systems networked robots path planning for multiple mobile robot systems

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Robust Cooperative Exploration With a Switching Strategy

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IEEE TRANSACTIONS ON robotICS 2012年第4期28卷 828-839页

作者： Wu, Wencen Zhang, Fumin Georgia Inst Technol Sch Elect & Comp Engn Atlanta GA 30332 USA

Biological inspirations have lead us to develop a switching strategy for a group of robotic sensing agents searching for a local minimum of an unknown noisy scalar field. Starting with individual exploration, the agents switch to cooperative exploration only when they are not able to converge to a local minimum at a satisfying rate. We derive a cooperative H-infinity filter that provides estimates of field values and field gradients during cooperative exploration and give sufficient conditions for the convergence and feasibility of the filter. The switched behavior from individual exploration to cooperative exploration results in faster convergence, which is rigorously justified by the Razumikhin theorem, to a local minimum. We propose that the switching condition from cooperative exploration to individual exploration is triggered by a significantly improved signal-to-noise ratio (SNR) during cooperative exploration. In addition to theoretical and simulation studies, we develop a multiagent testbed and implement the switching strategy in a lab environment. We have observed consistency of theoretical predictions and experimental results, which are robust to unknown noises and communication delays.

关键词： Cooperative exploration motion control path planning for multiple mobile robot systems sensor networks

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Reactive Trajectory Generation for multiple Vehicles in Unknown Environments With Wind Disturbances

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IEEE TRANSACTIONS ON robotICS 2018年第5期34卷 1333-1348页

作者： Cole, Kenan Wickenheiser, Adam M. George Washington Univ Mech & Aerosp Engn Dept Washington DC 20052 USA

Unmanned aerial vehicle use continues to increase, including operating beyond line of sight in unknown environments where the vehicle must autonomously generate a trajectory to safely navigate. In this article, we develop a trajectory generation algorithm for vehicles with second-order dynamics in unknown environments with bounded wind disturbances in which the vehicle only relies on its on-board distance sensors and communication with other vehicles to navigate. The proposed algorithm generates smooth trajectories and can be used with high-level planners and low-level motion controllers. The algorithm computes a maximum safe cruise velocity for the vehicle in the environment and guarantees that the trajectory does not violate the vehicle's thrust limitation, sensor constraints, or user-defined clearance radius around other vehicles and obstacles. Additionally, the trajectories are guaranteed to reach a stationary goal position in finite time given a finite number of bounded obstacles. Simulation results demonstrate the algorithm properties through two scenarios. First, a quadrotor navigating through a moving obstacle field to a goal position and, second, multiple quadrotors navigating into a building to different goal positions.

关键词： Autonomous agents collision avoidance motion control path planning for multiple mobile robot systems robot navigation

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Reciprocal Collision Avoidance With Motion Continuity Constraints

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IEEE TRANSACTIONS ON robotICS 2013年第4期29卷 899-912页

作者： Rufli, Martin Alonso-Mora, Javier Siegwart, Roland ETH Inst Robot & Intelligent Syst CH-8092 Zurich Switzerland Disney Res Zurich CH-8092 Zurich Switzerland

This paper addresses decentralized motion planning among a homogeneous set of feedback-controlled, decision-making agents. It introduces the continuous control obstacle (C-n-CO), which describes the set of C-n-continuous control sequences (and thus trajectories) that lead to a collision between interacting agents. By selecting a feasible trajectory from C-n-CO's complement, a collision-free motion is obtained. The approach represents an extension to the reciprocal velocity obstacle (RVO, ORCA) collision-avoidance methods so that trajectory segments verify C-n continuity rather than piecewise linearity. This allows the large class of robots capable of tracking C-n-continuous trajectories to employ it for partial motion planning directly-rather than as a mere tool for collision checking. This paper further establishes that both the original velocity obstacle method and several of its recently developed reciprocal extensions (which treat specific robot physiologies only) correspond to particular instances of C-n-CO. In addition to the described extension in trajectory continuity, C-n-CO thus represents a unification of existing RVO theory. Finally, the presented method is validated in simulation-and a parameter study reveals under which environmental and control conditionsC(n)-CO with n> 0 admits significantly improved navigation performance compared with inflated approaches based on ORCA.

关键词： Autonomous agents path planning for multiple mobile robot systems reciprocal collision avoidance

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Advanced perception, navigation and planning for autonomous in-water ship hull inspection

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INTERNATIONAL JOURNAL OF robotICS RESEARCH 2012年第12期31卷 1445-1464页

作者： Hover, Franz S. Eustice, Ryan M. Kim, Ayoung Englot, Brendan Johannsson, Hordur Kaess, Michael Leonard, John J. MIT Cambridge MA 02139 USA Univ Michigan Ann Arbor MI 48109 USA

Inspection of ship hulls and marine structures using autonomous underwater vehicles has emerged as a unique and challenging application of robotics. The problem poses rich questions in physical design and operation, perception and navigation, and planning, driven by difficulties arising from the acoustic environment, poor water quality and the highly complex structures to be inspected. In this paper, we develop and apply algorithms for the central navigation and planning problems on ship hulls. These divide into two classes, suitable for the open, forward parts of a typical monohull, and for the complex areas around the shafting, propellers and rudders. On the open hull, we have integrated acoustic and visual mapping processes to achieve closed-loop control relative to features such as weld-lines and biofouling. In the complex area, we implemented new large-scale planning routines so as to achieve full imaging coverage of all the structures, at a high resolution. We demonstrate our approaches in recent operations on naval ships.

关键词： Marine robotics field and service robotics localization mobile and distributed robotics SLAM mapping sonars sensor fusion sensing and perception computer vision path planning for multiple mobile robot systems

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Controlling many differential-drive robots with uniform control inputs

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INTERNATIONAL JOURNAL OF robotICS RESEARCH 2014年第13期33卷 1626-1644页

作者： Becker, Aaron Onyuksel, Cem Bretl, Timothy McLurkin, James Boston Childrens Hosp Dept Cardiovasc Surg Boston MA 02115 USA Harvard Univ Sch Med Boston MA USA Western Digital Corp Irvine CA USA Univ Illinois Dept Aerosp Engn Urbana IL USA Rice Univ Dept Comp Sci Houston TX USA

This paper derives both open-loop and closed-loop control policies that steer a finite set of differential-drive robots to desired positions in a two-dimensional workspace, when all robots receive the same control inputs but each robot turns at a slightly different rate. In the absence of perturbation, the open-loop policy achieves zero error in finite time. In the presence of perturbation, the closed-loop policy is globally asymptotically stabilizing with state feedback. Both policies were validated with hardware experiments using up to 15 robots. These experimental results suggest that similar policies might be applied to control micro- and nanoscale robotic systems, which are often subject to similar constraints.

关键词： Ensemble control micro nano robots path planning for multiple mobile robot systems nonholonomic motion planning underactuated robots telerobotics multi-agent control uniform inputs

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Cooperative Patrolling via Weighted Tours: Performance Analysis and Distributed Algorithms

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IEEE TRANSACTIONS ON robotICS 2012年第5期28卷 1181-1188页

作者： Pasqualetti, Fabio Durham, Joseph W. Bullo, Francesco Univ Calif Santa Barbara Ctr Control Dynam Syst & Computat Santa Barbara CA 93111 USA

This paper focuses on the problem of patrolling an environment with a team of autonomous agents. Given a set of strategically important locations (viewpoints) with different priorities, our patrolling strategy consists of 1) constructing a tour through the viewpoints, and 2) driving the robots along the tour in a coordinated way. As performance criteria, we consider the weighted refresh time, i.e., the longest time interval between any two visits of a viewpoint, weighted by the viewpoint's priority. We consider the design of both optimal trajectories and distributed control laws for the robots to converge to optimal trajectories. First, we propose a patrolling strategy and we characterize its performance as a function of the environment and the viewpoints priorities. Second, we restrict our attention to the problem of patrolling a nonintersecting tour, and we describe a team trajectory with minimum weighted refresh time. Third, for the tour patrolling problem and for two distinct communication scenarios, namely the Passing and the Neighbor-Broadcast communication models, we develop distributed algorithms to steer the robots toward a minimum weighted refresh time team trajectory. Finally, we show the effectiveness and robustness of our control algorithms via simulations and experiments.

关键词： Autonomous agents distributed robot systems path planning for multiple mobile robot systems search and rescue robots surveillance systems

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Multirobot Reconnection on Graphs: Problem, Complexity, and Algorithms

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IEEE TRANSACTIONS ON robotICS 2018年第5期34卷 1299-1314页

作者： Banfi, Jacopo Basilico, Nicola Amigoni, Francesco Univ Milan Dept Comp Sci I-20135 Milan Italy Politecn Milan Dipartimento Elettron Informaz & Bioingn I-20133 Milan Italy

In several multirobot applications in which communication is limited, the mission could require the robots to iteratively take coordinated joint decisions on how to spread out in the environment and on how to reconnect with each other to share data and compute plans. Exploration and surveillance are examples of these applications. In this paper, we consider the problem of computing robots' paths on a graph-represented environment for restoring connections at minimum traveling cost. We call it the multirobot reconnection problem, we show its NP-hardness and hardness of approximation on some important classes of graphs, and we provide optimal and heuristic algorithms to solve it in practical settings. The techniques we propose are then exploited to derive a new efficient planning algorithm for a relevant connectivity-constrained multirobot planning problem addressed in the literature, the multirobot informative path planning with periodic connectivity problem.

关键词： Multirobot reconnection networked robots path planning for multiple mobile robot systems

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Evolutionary Trajectory Planner for multiple UAVs in Realistic Scenarios

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IEEE TRANSACTIONS ON robotICS 2010年第4期26卷 619-634页

作者： Besada-Portas, Eva de la Torre, Luis de la Cruz, Jesus M. de Andres-Toro, Bonifacio Univ Complutense Madrid Dept Comp & Automat E-28040 Madrid Spain Spanish Univ Distance Educ Dept Comp Sci & Automat Control Madrid 28080 Spain

This paper presents a path planner for multiple unmanned aerial vehicles (UAVs) based on evolutionary algorithms (EAs) for realistic scenarios. The paths returned by the algorithm fulfill and optimize multiple criteria that 1) are calculated based on the properties of real UAVs, terrains, radars, and missiles and 2) are structured in different levels of priority according to the selected mission. The paths of all the UAVs are obtained with the multiple coordinated agents coevolution EA (MCACEA), which is a general framework that uses an EA per agent (i.e., UAV) that share their optimal solutions to coordinate the evolutions of the EAs populations using cooperation objectives. This planner works offline and online by means of recalculating parts of the original path to avoid unexpected risks while the UAV is flying. Its search space and computation time have been reduced using some special operators in the EAs. The successful results of the paths obtained in multiple scenarios, which are statistically analyzed in the paper, and tested against a simulator that incorporates complex models of the UAVs, radars, and missiles, make us believe that this planner could be used for real-flight missions.

关键词： Aerial robotics multiobjective evolutionary algorithms (EAs) path planning for multiple mobile robot systems

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A comparison of path planning strategies for autonomous exploration and mapping of unknown environments

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AUTONOMOUS robotS 2012年第4期33卷 427-444页

作者： Julia, Miguel Gil, Arturo Reinoso, Oscar Miguel Hernandez Univ Elche Syst Engn & Automat Dept Elche 03202 Alicante Spain

To date, a large number of algorithms to solve the problem of autonomous exploration and mapping has been presented. However, few efforts have been made to compare these techniques. In this paper, an extensive study of the most important methods for autonomous exploration and mapping of unknown environments is presented. Furthermore, a representative subset of these techniques has been chosen to be analysed. This subset contains methods that differ in the level of multi-robot coordination and in the grade of integration with the simultaneous localization and mapping (SLAM) algorithm. These exploration techniques were tested in simulation and compared using different criteria as exploration time or map quality. The results of this analysis are shown in this paper. The weaknesses and strengths of each strategy have been stated and the most appropriate algorithm for each application has been determined.

关键词： Autonomous exploration Mapping of unknown environments path planning for multiple mobile robot systems

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