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Obstacle avoidance using buffered voronoi cells based on local information from a laser range scanner

ADVANCED robotICS 2023年第1-2期37卷 73-86页

作者： Motonaka, Kimiko Miyoshi, Seiji Kansai Univ Dept Elect Elect & Informat Engn 3-3-35 Yamate Cho Suita Osaka 5648680 Japan

In this study, we present an approach for implementing an autonomous navigation method, including obstacle avoidance, based on buffered Voronoi cells (BVCs) in a quadrotor. The navigation method using BVC is suitable for online processing because it can determine the control input from only the approximate relative distance between the current position and the obstacles without complex information, such as velocity or accurate obstacle positions. The method has been confirmed to work well through simulations and experiments in previous studies. These experiments assumed that quadrotors could obtain the relative positions of nearby objects using mutual communication with other quadrotors. However, in practical use, there are cases in which quadrotors should move based on the local information gathered by the mounted sensors. Therefore, we propose a method for obtaining the necessary information to calculate the area of the BVC from a laser range scanner mounted on the quadrotor to enable the quadrotor to reach a specified target position without colliding with obstacles. In addition, we propose a simple method for handling deadlocks that can occur depending on the position of the obstacles.

关键词： Collision avoidance distributed robot system motion and path planning UAVs

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MORI-A CPS: 3D printed soft actuators with 4D assembly simulation

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ARTIFICIAL LIFE AND robotICS 2023年第3期28卷 609-617页

作者： Abe, Shoma Ogawa, Jun Watanabe, Yosuke Shiblee, Md Nahin Islam Kawakami, Masaru Furukawa, Hidemitsu Yamagata Univ Dept Engn Yamagata Japan

Soft modular robotics combines soft materials and modular mechanisms. We are developing a vacuum-driven actuator module, MORI-A, which combines a 3D-printed flexible parallel cross structure with a cube-shaped hollow silicone. The MORI-A module has five deformation modes: no deformation, uniform contraction, uniaxial contraction, flexion, and shear. By combining these modules, soft robots with a variety of deformabilities can be constructed. However, assembling MORI-A requires predicting the deformation from the posture and mode of the modules, making assembly difficult. To overcome this problem, this study aims to construct a system called "MORI-A CPS," which can predict the motion of a soft robot composed of MORI-A modules by simply arranging cubes in a virtual space. This paper evaluates how well the motion of virtual MORI-A modules, defined as a combination of swelling and shrinking voxels, approximates real-world motion. Then, it shows that the deformations of virtual soft robots constructed via MORI-A CPS are similar to those of real robots.

关键词： Modular robotics Soft actuator Agent-based modeling Cyber-physical system distributed robot system

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Information Correlated Levy Walk Exploration and distributed Mapping Using a Swarm of robots

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IEEE TRANSACTIONS ON robotICS 2020年第5期36卷 1422-1441页

作者： Ramachandran, Ragesh K. Kakish, Zahi Berman, Spring Univ Southern Calif Dept Comp Sci Los Angeles CA 90089 USA Arizona State Univ Sch Engn Matter Transport & Energy Tempe AZ 85287 USA

In this article, we present a novel distributed method for constructing an occupancy grid map of an unknown environment using a swarm of robots with global localization capabilities and limited interrobot communication. The robots explore the domain by performing Levy walks in which their headings are defined by maximizing the mutual information between the robot's estimate of its environment in the form of an occupancy grid map and the distance measurements that it is likely to obtain when it moves in that direction. Each robot is equipped with laser range sensors, and it builds its occupancy grid map by repeatedly combining its own distance measurements with map information that is broadcast by neighboring robots. Using results on average consensus over time-varying graph topologies, we prove that all robots' maps will eventually converge to the actual map of the environment. In addition, we demonstrate that a technique based on topological data analysis, developed in our previous work for generating topological maps, can be readily extended for adaptive thresholding of occupancy grid maps. We validate the effectiveness of our distributed exploration and mapping strategy through a series of two-dimensional simulations and multirobot experiments.

关键词： robot sensing systems Legged locomotion Collision avoidance Distance measurement Topology Algebraic topology distributed robot system information theory mapping occupancy grid map

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Development of Decentralized Task Allocation Algorithms for Multi-Agent systems with Very Low Communication

Development of Decentralized Task Allocation Algorithms for ...

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作者： Bapat, Akshay V. University of Maryland College Park

学位级别：M.S.

Existing decentralized task allocation algorithms perform poorly under very low communication. Although previous work has considered task allocation algorithms in the presence of imperfect communication, the case of very low communication has not yet been addressed. In this thesis, we present two new algorithms: the Spatial Division Playbook Algorithm and the Travelling Salesman Playbook Algorithm, which cater to the cases when the instantaneous probability (p) of a successful message between agents satisfies p << 0.01. These algorithms work by assuming that communications may not happen, but then derive advantages whenever communications are successful. We compare these algorithms experimentally with three state-of-the-art algorithms—ACBBA, PIA and DHBA—across multiple communication levels and multiple numbers of targets, based on three communication models: Bernoulli model, Gilbert-Elliot model and Rayleigh Fading model. Our results show that the algorithms perform better than the other algorithms and reduce the time required to ensure all targets are visited.

关键词： robotics Autonomous Agents distributed robot system Task Planning

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distributed Perception by Collaborative robots

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IEEE robotICS AND AUTOMATION LETTERS 2018年第4期3卷 3709-3716页

作者： Hadidi, Ramyad Cao, Jiashen Woodward, Matthew Ryoo, Michael S. Kim, Hyesoon Georgia Inst Technol Sch Comp Sci Atlanta GA 30332 USA Georgia Inst Technol Dept Elect Engn Atlanta GA 30332 USA EgoVid Inc Ulsan 44919 South Korea

Recognition ability and, more broadly, machine learning techniques enable robots to perform complex tasks and allow them to function in diverse situations. In fact, robots can easily access an abundance of sensor data that are recorded in real time such as speech, image, and video. Since such data are time sensitive, processing them in real time is a necessity. Moreover, machine learning techniques are known to be computationally intensive and resource hungry. As a result, an individual resource-constrained robot, in terms of computation power and energy supply, is often unable to handle such heavy real-time computations alone. To overcome this obstacle, we propose a framework to harvest the aggregated computational power of several low-power robots for enabling efficient, dynamic, and real-time recognition. Our method adapts to the availability of computing devices at runtime and adjusts to the inherit dynamics of the network. Our framework can be applied to any distributed robot system. To demonstrate, with several Raspberry-Pi3-based robots (up to 12) each equipped with a camera, we implement a state-of-the-art action recognition model for videos and two recognition models for images. Our approach allows a group of multiple low-power robots to obtain a similar performance (in terms of the number of images or video frames processed per second) compared to a high-end embedded platform, Nvidia Tegra TX2.

关键词： Deep learning in robotics and automation distributed robot system

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A snake-based scheme for path planning and control with constraints by distributed visual sensors

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robotICA 2014年第4期32卷 477-499页

作者： Cheng, Y. Jiang, P. Hu, Y. F. Univ Bradford Sch Engn Design & Technol Bradford BD7 1DP W Yorkshire England Univ Hull Dept Comp Sci Kingston Upon Hull HU6 7RX N Humberside England

This paper proposes a robot navigation scheme using wireless visual sensors deployed in an environment. Different from the conventional autonomous robot approaches, the scheme intends to relieve massive on-board information processing required by a robot to its environment so that a robot or a vehicle with less intelligence can exhibit sophisticated mobility. A three-state snake mechanism is developed for coordinating a series of sensors to form a reference path. Wireless visual sensors communicate internal forces with each other along the reference snake for dynamic adjustment, react to repulsive forces from obstacles, and activate a state change in the snake body from a flexible state to a rigid or even to a broken state due to kinematic or environmental constraints. A control snake is further proposed as a tracker of the reference path, taking into account the robot's non-holonomic constraint and limited steering power. A predictive control algorithm is developed to have an optimal velocity profile under robot dynamic constraints for the snake tracking. They together form a unified solution for robot navigation by distributed sensors to deal with the kinematic and dynamic constraints of a robot and to react to dynamic changes in advance. Simulations and experiments demonstrate the capability of a wireless sensor network to carry out low-level control activities for a vehicle.

关键词： Snake algorithm Wireless visual sensors Mobile robot navigation distributed robot system

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A Survey of Map Merging Techniques for Cooperative-SLAM

A Survey of Map Merging Techniques for Cooperative-SLAM

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

作者： Lee, Heon-Cheol Lee, Seung-Hwan Lee, Tae-Seok Kim, Doo-Jin Lee, Beom-Hee Seoul Natl Univ Sch Elect Engn & Comp Sci Seoul 151742 South Korea

ISBN: (纸本)9781467331104

This paper presents a survey of map merging techniques for cooperative-SLAM. The recently proposed map merging techniques are classified into two categories: direct map merging and indirect map merging. In each category, several techniques are briefly described. Then, their advantages and disadvantages are discussed in the context of accuracy and computation time. The description and discussion can contribute to realizing and improving cooperative-SLAM.

关键词： Map merging technique distributed robot system Cooperative-SLAM

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A Self-adaptive Framework for Modular robots in a Dynamic Environment: Theory and Applications

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INTERNATIONAL JOURNAL OF robotICS RESEARCH 2011年第8期30卷 1015-1036页

作者： Yu, Chih-Han Nagpal, Radhika Harvard Univ Sch Engn & Appl Sci Wyss Inst Biol Inspired Engn Cambridge MA 02138 USA

Biological systems achieve amazing adaptive behavior with local agents that perform simple sensing and actions. This has recently inspired the control strategies and design principles of modular robots. In this paper, we introduce a distributed control framework through which modular robots can achieve various self-adaptive tasks. By self-adaptive tasks, we imply tasks where the modular robot uses its distributed sensors to solve tasks and cope with environment changes. We show that modular robot self-adaptive tasks can be formulated as distributed constraint maintenance on a networked multi-agent system such that performing collective self-adaption can be simplified as satisfying local constraints. This formulation allows us to propose a control framework based on a class of multi-agent algorithms called distributed consensus. We further generalize this framework to capture a wide range of sensor-actuator networks in different distributed robotic systems. We prove various theoretical properties of the framework, including its scalability to network diameter and the number of modules. Based on our theoretical understanding, we demonstrate this framework with various tasks, including (1) self-adaptive structures that maintain their shapes in changing environments, (2) an adaptive column that can adapt to external force, and (3) a modular gripper that can manipulate fragile objects. This work provides a deep understanding of the theoretical properties of distributed consensus-type control and its applications to modular robots.

关键词： distributed control modular robot distributed robot system networked robot bio-inspired multi-agent systems

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Environment-type robot system "robotic room" featured by behavior media, behavior contents, and behavior adaptation

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2004年第3期9卷 529-534页

作者： Sato, T Harada, T Mori, T Univ Tokyo Tokyo 1138656 Japan

This paper proposes a concept of "robotic Room" of the environment-type robot system for human service and describes the feasibility of novel functions by constructed three prototype robot systems taking account of the features of the environment-type robot system. The features are: 1) a spatial system;2) a human-robot symbiosis system;and 3) a distributed system. Novel functions of the robotic Room based on the research fields of a) Behavior Media and b) Behavior Contents and Behavior Adaptation is revealed by constructed prototype system of "robotic Room 1 (robotic Sick Room)," "robotic Room 2 (Sensing Room)," and "robotic Room 3," taking account of the stated features of the systems.

关键词： behavioral adaptation behavioral information distributed robot system human-robot symbiosis

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