检索结果-内蒙古大学图书馆

Safe Coverage for Heterogeneous systems With Limited Connectivity

IEEE robotICS AND AUTOMATION LETTERS 2024年第10期9卷 8866-8873页

作者： Taylor, Annalisa T. Berrueta, Thomas A. Pinosky, Allison Murphey, Todd D. Northwestern Univ Ctr Robot & Biosyst Dept Mech Engn Evanston IL 60208 USA

Operating multi-robot teams of diverse agents is an ongoing challenge for emergency deployments, where inter-agent connectivity is rare and environments are unpredictable. Heterogeneous systems must be capable of adapting autonomously while maintaining safety. Here, we develop an algorithm for heterogeneous decentralized multi-robot systems to independently manage safety constraints with provable guarantees for safety and communication in a coverage task. We demonstrate this algorithm in settings where up to 100 agents navigate a simulated cluttered environment with safety constraints that change as agents observe hazards. Further, we show that the performance of a system with a largely disconnected network is equivalent to a fully connected communication network, suggesting that treating connectivity as a constraint may be unnecessary with an appropriate control strategy.

关键词： distributed robot systems robot safety distributed robot systems robot safety

来源：评论

学校读者我要写书评

暂无评论

An Online Scalable Approach to Unified Multirobot Cooperative Localization and Object Tracking

引用

IEEE TRANSACTIONS ON robotICS 2017年第5期33卷 1184-1199页

作者： Ahmad, Aamir Lawless, Guilherme Lima, Pedro Max Planck Inst Intelligent Syst D-72076 Tubingen Germany Univ Lisbon Inst Super Tecn Inst Syst & Robot P-1049001 Lisbon Portugal

In this paper, we present a unified approach for multi-robot cooperative simultaneous localization and object tracking based on particle filters. Our approach is scalable with respect to the number of robots in the team. We introduce a method that reduces, from an exponential to a linear growth, the space and computation time requirements with respect to the number of robots in order tomaintain a given level of accuracy in the full-state estimation. Our method requires no increase in the number of particles with respect to the number of robots. However, in our method, each particle represents a full-state hypothesis, leading to the linear dependency on the number of robots of both space and time complexity. The derivation of the algorithm implementing our approach froma standard particle filter algorithm and its complexity analysis are presented. Through an extensive set of simulation experiments on a large number of randomized datasets, we demonstrate the correctness and efficacy of our approach. Through real robot experiments on a standardized open dataset of a team of four soccer-playing robots tracking a ball, we evaluate our method's estimation accuracy with respect to the ground truth values. Through comparisons with other methods based on 1) nonlinear least squares minimization and 2) joint extended Kalman filter, we further highlight our method's advantages. Finally, we also present a robustness test for our approach by evaluating it under scenarios of communication and vision failure in teammate robots.

关键词： Cooperative perception distributed robot systems localization sensor fusion visual tracking

来源：评论

学校读者我要写书评

暂无评论

Constrained Interaction and Coordination in Proximity-Limited Multiagent systems

引用

IEEE TRANSACTIONS ON robotICS 2013年第4期29卷 930-944页

作者： Williams, Ryan K. Sukhatme, Gaurav S. Univ So Calif Dept Elect Engn Los Angeles CA 90089 USA Univ So Calif Dept Comp Sci Los Angeles CA 90089 USA

In this paper, we consider the problem of controlling the interactions of a group of mobile agents, subject to a set of topological constraints. Assuming proximity-limited interagent communication, we leverage mobility, unlike prior work, to enable adjacent agents to interact discriminatively, i.e., to actively retain or reject communication links on the basis of constraint satisfaction. Specifically, we propose a distributed scheme that consists of hybrid controllers with discrete switching for link discrimination, coupled with attractive and repulsive potentials fields for mobility control, where constraint violation predicates form the basis for discernment. We analyze the application of constrained interaction to two canonical coordination objectives, i.e., aggregation and dispersion, with maximum and minimum node degree constraints, respectively. For each task, we propose predicates and control potentials, and examine the dynamical properties of the resulting hybrid systems. Simulation results demonstrate the correctness of our proposed methods and the ability of our framework to generate topology-aware coordinated behavior.

关键词： Connectivity control distributed robot systems dynamic networks topology control

来源：评论

学校读者我要写书评

暂无评论

Bilateral Teleoperation of Multiple Mobile Agents: Coordinated Motion and Collision Avoidance

引用

IEEE TRANSACTIONS ON CONTROL systems TECHNOLOGY 2010年第4期18卷 984-992页

作者： Rodriguez-Seda, Erick J. Troy, James J. Erignac, Charles A. Murray, Paul Stipanovic, Dusan M. Spong, Mark W. Univ Illinois Coordinated Sci Lab Urbana IL 61801 USA Boeing Phantom Works Seattle WA 98124 USA Univ Texas Dallas Sch Engn & Comp Sci Dallas TX 75080 USA

This paper presents theoretical and experimental results on bilateral teleoperation of multiple mobile slave agents coupled to a single master robot. We first design a passifying proportional-derivative (PD) controller to enforce motion tracking and formation control of master and slave vehicles under constant, bounded communication delays. Then, we incorporate avoidance functions to guarantee collision-free transit through obstructed spaces. The unified control framework is validated by experiments with two coaxial helicopters as slave agents and a haptic device as the master robot.

关键词： distributed robot systems formation control networked control systems obstacle avoidance teleoperation

来源：评论

学校读者我要写书评

暂无评论

Coverage Control for Multirobot Teams With Heterogeneous Sensing Capabilities

引用

IEEE robotICS AND AUTOMATION LETTERS 2018年第2期3卷 919-925页

作者： Santos, Maria Diaz-Mercado, Yancy Egerstedt, Magnus Georgia Inst Technol Sch Elect & Comp Engn Atlanta GA 30332 USA Johns Hopkins Univ Appl Phys Lab Laurel MD 20723 USA

This letter investigates how mobile agents with qualitatively different sensing capabilities should be organized in order to effectively cover an area. In particular, by encoding the different capabilities as different density functions in the locational cost, the result is a heterogeneous coverage control problem where the different density functions serve as a way of both abstracting and encapsulating different sensing capabilities. However, different density functions imply thatmass is not conserved as the agents move and, as a result, the normal cancellations that occur across boundaries between regions of dominance in the homogeneous case no longer take place when computing the gradient of the locational cost. As a result, new terms are needed if the robots are to execute a descent flow in order to minimize the locational cost, and we show how these additional terms can be formulated as boundary-disagreement terms that are added to the standard Lloyd's algorithm. The results are implemented on real robotic platforms for a number of different use cases.

关键词： Multi-robot systems networked robots distributed robot systems

来源：评论

学校读者我要写书评

暂无评论

Cooperative Patrolling via Weighted Tours: Performance Analysis and distributed Algorithms

引用

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

来源：评论

学校读者我要写书评

暂无评论

Formation Control of Mobile robots Using Multiple Aerial Cameras

引用

IEEE TRANSACTIONS ON robotICS 2015年第4期31卷 1064-1071页

作者： Aranda, Miguel Lopez-Nicolas, Gonzalo Saguees, Carlos Mezouar, Youcef Univ Zaragoza Inst Invest Ingn Aragon Zaragoza 50018 Spain Clermont Univ IFMA Inst Pascal F-63000 Clermont Ferrand France

This paper describes a new vision-based control method to drive a set of robots moving on the ground plane to a desired formation. As the main contribution, we propose to use multiple camera-equipped unmanned aerial vehicles (UAVs) as control units. Each camera views, and is used to control, a subset of the ground team. Thus, the method is partially distributed, combining the simplicity of centralized schemes with the scalability and robustness of distributed strategies. Relying on a homography computed for each UAV-mounted camera, our approach is purely image-based and has low computational cost. In the control strategy we propose, if a robot is seen by multiple cameras, it computes its motion by combining the commands it receives. Then, if the intersections between the sets of robots viewed by the different cameras satisfy certain conditions, we formally guarantee the stabilization of the formation, considering unicycle robots. We also propose a distributed algorithm to control the camera motions that preserves these required overlaps, using communications. The effectiveness of the presented control scheme is illustrated via simulations and experiments with real robots.

关键词： Aerial robotics distributed robot systems formation control vision-based control wheeled robots

来源：评论

学校读者我要写书评

暂无评论

Crowd Vetting: Rejecting Adversaries via Collaboration With Application to Multirobot Flocking

引用

IEEE TRANSACTIONS ON robotICS 2022年第1期38卷 5-24页

作者： Mallmann-Trenn, Frederik Cavorsi, Matthew Gil, Stephanie Kings Coll London Dept Informat London WC2R 2LS England Harvard Univ Sch Engn Appl Sci Allston MA 02134 USA

In this article, we characterize the advantage of using a robot's neighborhood to find and eliminate adversarial robots in the presence of a Sybil attack. We show that by leveraging the opinions of their neighbors on the trustworthiness of transmitted data, robots can detect adversaries with high probability. We characterize the number of communication rounds required to be a function of the communication quality and of the proportion of legitimate to malicious robots. This result enables increased resiliency of many multirobot algorithms. Because our results are finite time and not asymptotic, they are particularly well-suited for problems of a time critical nature. We develop two algorithms, FindSpoofedrobots that determines trusted neighbors with high probability, and FindResilientAdjacencyMatrix that enables distributed computation of graph properties in an adversarial setting. We apply our methods to a flocking problem where a team of robots must track a moving target in the presence of adversarial robots. We show that by using our algorithms, the team of robots are able to maintain tracking ability of the dynamic target.

关键词： robots robot kinematics Resilience Target tracking Collision avoidance Vehicle dynamics Social networking (online) distributed robot systems multirobot systems networked robots resilient coordination

来源：评论

学校读者我要写书评

暂无评论

ACHORD: Communication-Aware Multi-robot Coordination With Intermittent Connectivity

引用

IEEE robotICS AND AUTOMATION LETTERS 2022年第4期7卷 10184-10191页

作者： Saboia, Maira Clark, Lillian Thangavelu, Vivek Edlund, Jeffrey A. Otsu, Kyohei Correa, Gustavo J. Varadharajan, Vivek Shankar Santamaria-Navarro, Angel Touma, Thomas Bouman, Amanda Melikyan, Hovhannes Pailevanian, Torkom Kim, Sung-Kyun Archanian, Avak Vaquero, Tiago Stegun Beltrame, Giovanni Napp, Nils Pessin, Gustavo Agha-mohammadi, Ali-akbar CALTECH Jet Prop Lab 4800 Oak Grove Dr Pasadena CA 91125 USA Inst Tecnol Vale BR-66055090 Belem Para Brazil Univ Southern Calif Los Angeles CA 90007 USA Cornell Univ Ithaca NY 14850 USA Univ Calif Riverside Riverside CA 92521 USA Polytech Montreal Montreal PQ H3T 1J4 Canada CSIC UPC Inst Robot & Informat Ind Barcelona 08028 Spain CALTECH Pasadena CA 91125 USA

Communication is an important capability for multi-robot exploration because (1) inter-robot communication (comms) improves coverage efficiency and (2) robot-to-base comms improves situational awareness. Exploring comms-restricted (e.g., subterranean) environments requires a multi-robot system to tolerate and anticipate intermittent connectivity, and to carefully consider comms requirements, otherwise mission-critical data may be lost. In this paper, we describe and analyze ACHORD (Autonomous & Collaborative High-Bandwidth Operations with Radio Droppables), a multi-layer networking solution which tightly co-designs the network architecture and high-level decision-making for improved comms. ACHORD provides bandwidth prioritization and timely and reliable data transfer despite intermittent connectivity. Furthermore, it exposes low-layer networking metrics to the application layer to enable robots to autonomously monitor, map, and extend the network via droppable radios, as well as restore connectivity to improve collaborative exploration. We evaluate our solution with respect to the comms performance in several challenging underground environments including the DARPA SubT Finals competition environment. Our findings support the use of data stratification and flow control to improve bandwidth-usage.

关键词： Networked robots multi-robot systems co-operating robots distributed robot systems field robots

来源：评论

学校读者我要写书评

暂无评论

A framework for the collective movement of mobile robots based on distributed decisions

引用

robotICS AND AUTONOMOUS systems 2011年第10期59卷 685-697页

作者： Navarro, Inaki Matia, Fernando Univ Politecn Madrid ETSI Ind E-28006 Madrid Spain

A novel framework for the control of the collective movement of mobile robots is presented and analyzed in this article. It allows a group of robots to move as a unique entity performing the following functions: obstacle avoidance at group level, speed control and modification of the inter-robot distance. Its flocking controller is distributed among the robots, allowing them to move in the desired common direction and maintain a desired inter-robot distance. The framework is made up of different modules that modify the behavior of the group thus allowing different functions. They are based on consensus algorithms that allow the robots to agree on different parameters, taking into account which robot has more relevant information. New modules can be easily designed and incorporated into the framework in order to augment its capabilities. It can be easily implemented on any mobile robot capable of measuring the relative positions of neighboring robots and communicating with them. It has been successfully tested using 8 real robots and in simulation with up to 40 robots, demonstrating experimentally its scalability with an increasing number of robots. (C) 2011 Elsevier B.V. All rights reserved.

关键词： Collective movement Consensus distributed robot systems

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：