检索结果-内蒙古大学图书馆

31st International Conference on Computer Architecture (ARCS)

作者： Hamann, Heiko Univ Lubeck Dept Comp Engn Lubeck Germany

ISBN: (纸本)9783319776101;9783319776095

The uniting idea of both parallel computing and multi-robot systems is that having multiple processors or robots working on a task decreases the processing time. Typically we desire a linear speedup, that is, doubling the number of processing units halves the execution time. Sometimes superlinear scalability is observed in parallel computing systems and more frequently in multi-robot and swarm systems. Superlinearity means each individual processing unit gets more efficient by increasing the system size a desired and rather counterintuitive phenomenon. In an interdisciplinary approach, we compare abstract models of system performance from three different fields of research: parallel computing, multi-robot systems, and network science. We find agreement in the modeled universal properties of scalability and summarize our findings by formulating more generic interpretations of the observed phenomena. Our result is that scalability across fields can be interpreted as a tradeoff in three dimensions between too competitive and too cooperative processing schemes, too little information sharing and too much information sharing, while finding a balance between neither underusing nor depleting shared resources. We successfully verify our claims by two simple simulations of a multi-robot and a network system.

关键词： Parallel computing Multi-robot systems distributed robotics Swarm robotics Scalability Speedup

来源：评论

学校读者我要写书评

暂无评论

Exploiting Asynchrony in Multi-agent Consensus to Change the Agreement Point 18

Exploiting Asynchrony in Multi-agent Consensus to Change the...

引用

Proceedings of the 17th International Conference on Autonomous Agents and MultiAgent Systems

作者： Sasanka Nagavalli Ramitha Sundar Katia Sycara Carnegie Mellon University Pittsburgh PA USA

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： swarms and collective behavior networked robot/sensor systems distributed robotics robot communication and teamwork

来源：评论

学校读者我要写书评

暂无评论

distributed robotics Education

引用

JOURNAL OF robotics AND MECHATRONICS 2011年第5期23卷 859-870页

作者： Lund, Henrik Hautop Pagliarini, Luigi Tech Univ Denmark Ctr Playware Bldg 325 DK-2800 Lyngby Denmark

distributed robotics takes many forms, for instance, multirobots, modular robots, and self-reconfigurable robots. The understanding and development of such advanced robotic systems demand extensive knowledge in engineering and computer science. In this paper, we describe the concept of a distributed educational system as a valuable tool for introducing students to interactive parallel and distributed processing programming as the foundation for distributed robotics and human-robot interaction development. This is done by providing an educational tool that enables problem representation to be changed, related to multirobot control and human-robot interaction control from virtual to physical representation. The proposed system is valuable for bringing a vast number of issues into education - such as parallel programming, distribution, communication protocols, master dependency, connectivity, topology, island modeling software behavioral models, adaptive interactivity, feedback, and user interaction. We show how the proposed system can be considered a tool for easy, fast, flexible hands-on exploration of these distributed robotic issues. Through examples, we show how to implement interactive parallel and distributed processing in robotics with different software models such as open-loop, randomness-based, rule-based, user-interaction-based, AI- and ALife-based, and morphology-based control.

关键词： educational tool distributed robotics parallel processing agent-based robotics playware

来源：评论

学校读者我要写书评

暂无评论

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

来源：评论

学校读者我要写书评

暂无评论

Precise assembly of 3D truss structures using MLE-based error prediction and correction

引用

INTERNATIONAL JOURNAL OF robotics RESEARCH 2015年第13期34卷 1622-1644页

作者： Komendera, Erik Correll, Nikolaus Univ Colorado Dept Comp Sci Boulder CO 80309 USA

We describe a method to construct precise truss structures from non-precise commodity parts. Trusses with precision in the order of micrometers, such as the truss of a space telescope, have previously been built using precisely machined truss connection systems. This approach is expensive, heavy, and prone to failure, e.g. when a single element is lost. In the past, we have proposed a novel concept in which non-precise commodity parts can be aligned using intelligent precision jigging robots and then welded in place. Even when using highly precise sensors and actuators, this approach can still lead to errors due to thermal expansion and structural deformation. In this paper, we describe and evaluate algorithms for generating truss assembly sequences that reduce the expected error by (1) using a heuristic to generate build sequences that reduce the expected variance, and (2) during assembly, estimating the structure's pose using maximum likelihood estimation that combines local measurements by different intelligent precision jigging robots, improves this estimate during loop closures in the construction process, and uses this estimate to correct for errors during construction. We show through simulation and physical experiment that this combined approach reduces assembly error, enabling precision construction with commodity materials. While the model herein is based on truss structures, the proposed methods generalize to a larger class of incremental assembly problems, which exhibit continuous rather than discrete errors.

关键词： Robotic assembly distributed robotics probabilistic robotics maximum likelihood estimation assembly sequence planning

来源：评论

学校读者我要写书评

暂无评论

Precise assembly of 3D truss structures using MLE-based error prediction and correction

Precise assembly of 3D truss structures using MLE-based erro...

引用

14th International Symposium on Experimental robotics (ISER)

作者： Komendera, Erik Correll, Nikolaus Univ Colorado Dept Comp Sci Boulder CO 80309 USA

关键词： Robotic assembly distributed robotics probabilistic robotics maximum likelihood estimation assembly sequence planning

来源：评论

学校读者我要写书评

暂无评论

Decentralised Submodular Multi-Robot Task Allocation

Decentralised Submodular Multi-Robot Task Allocation

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Segui-Gasco, Pau Shin, Hyo-Sang Tsourdos, Antonios Seguí, V. J. Cranfield Univ Sch Aerosp Transport & Mfg Coll Rd Cranfield MK43 0AL Beds England Univ Politecn Valencia Dept Mech Engn & Mat Sci Escuela Politecn Super Alcoy Alcoy 03801 Spain

ISBN: (纸本)9781479999941

In this paper we present a decentralised algorithm to solve the Task Allocation problem. Given a set of tasks and a set of robots each with its own utility function, this problem concerns the non-overlapping allocation of tasks to agents maximising the sum of the robot's utility functions. Our algorithm provides a constant factor approximation of (1 - 1/e approximate to 63%) for positive-valued monotone submodular utility functions, and of (1/e approximate to 37%) for positive-valued non-monotone submodular utility functions. In our algorithm, robots only rely on local utility function and neighbour to neighbour communications to find the solution. The algorithm proceeds in two steps. Initially, the robots use Maximum Consensus-based algorithm to find a relaxed solution of the problem using the multilinear extension of their utility functions. Finally, they follow a randomised rounding procedure to exchange valuations on sets of tasks in order to round the relaxed solution. To conclude, we provide experimental evidence of our claims for both monotone and non-monotone submodular functions.

关键词： Decentralised Task Allocation Multi Robot Task Allocation distributed robotics Submodular Welfare

来源：评论

学校读者我要写书评

暂无评论

Constructing Geometries for Group Control: Methods for Reasoning about Social Behaviors

Constructing Geometries for Group Control: Methods for Reaso...

引用

作者： Fine, Benjamin Thomas Texas A&M University

Social behaviors in groups has been the subjects of hundreds of studies in a variety of research disciplines, including biology, physics, and robotics. In particular, flocking behaviors (commonly exhibited by birds and fish) are widely considered archetypical social behavioris and are due, in part, to the local interactions among the individuals and the environment. Despite a large number of investigations and a significant fraction of these providing algorithmic descriptions of flocking models, incompleteness and imprecision are readily identifiable in these algorithms, algorithmic input, and validation of the models. This has led to a limited understanding of the group level behaviors. Through two case-studies and a detailed meta-study of the literature, this dissertation shows that study of the individual behaviors are not adequate for understanding the behaviors displayed by the group. To highlight the limitations in only studying the individuals, this dissertation introduces a set of tools, that together, unify many of the existing microscopic approaches. A meta-study of the literature using these tools reveal that there are many small differences and ambiguities in the flocking scenarios being studied by different researchers and domains; unfortunately, these differences are of considerable significance. To address this issue, this dissertation exploits the predictable nature of the group’s behaviors in order to control the given group and thus hope to gain a fuller understanding of the collective. From the current literature, it is clear the environment is an important determinant in the resulting collective behaviors. This dissertation presents a method for reasoning about the effects the geometry of an environment has on individuals that exhibit collective behaviors in order to control them. This work formalizes the problem of controlling such groups by means of changing the environment in which the group operates and shows this problem to be PSPACE-Hard. A

关键词： distributed robotics Group Control Group Manipulation Emergent Behaviors Collective Motion Thesis

来源：评论

学校读者我要写书评

暂无评论

distributed assembly with online workload balancing and visual error detection and correction

引用

INTERNATIONAL JOURNAL OF robotics RESEARCH 2014年第4期33卷 534-546页

作者： Worcester, James Hsieh, M. Ani Lakaemper, Rolf Drexel Univ Mech Engn & Mech Philadelphia PA 19104 USA Temple Univ Philadelphia PA 19122 USA

We consider the assembly of a three-dimensional (3D) structure by a team of heterogeneous robots capable of online sensing and error correction during the assembly process. We build on our previous work and address the partitioning of the assembly task to maximize parallelization of the assembly process. Specifically, we consider 3D structures that can be assembled from a fixed collection of heterogeneous tiles that vary in shapes and sizes. Given a desired 3D structure, we first compute the partition of the assembly strategy into N-a subcomponents that can be executed in parallel by a team of N-a assembly robots. The assembly robots then perform online workload balancing during construction to minimize assembly time. To enable online error detection and correction during the assembly process, mobile robots equipped with visual depth sensors are tasked to scan, identify, and track the state of the structure. The result is a cooperative assembly framework where assembly robots can balance their individual workloads online by trading assembly components while scanning robots detect and reassign missing assembly components online. We present the integration of the planning, sensing, and control strategies employed in our framework and report on the experimental validation of the strategy using our multi-robot testbed.

关键词： distributed robotics assembly networked robots

来源：评论

学校读者我要写书评

暂无评论

distributed assembly with online workload balancing and visual error detection and correction

Distributed assembly with online workload balancing and visu...

引用

13th International Symposium on Experimental robotics(ISER)

作者： Worcester, James Hsieh, M. Ani Lakaemper, Rolf Drexel Univ Mech Engn & Mech Philadelphia PA 19104 USA Temple Univ Philadelphia PA 19122 USA

关键词： distributed robotics assembly networked robots

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

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

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

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

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：