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1st International Conference on Simulation, Modeling, and Programming for Autonomous Robots

作者： Polakow, Grzegorz Metzger, Mieczyslaw Silesian Tech Univ Fac Automat Control Elect & Comp Sci PL-44100 Gliwice Poland

ISBN: (纸本)9783540890751

Parallel processing Producer-Distributor-Consumer (ppPDC) transmission scenario is proposed and developed for improving communication features of the Ethernet-based switched industrial networks. First version of ppPDC-based communication infrastructure was developed in the LabVIEW graphical programming platform as a flexible and low cost framework. Further development of the framework turned it into a fully functional real-time middleware, which has the main advantage of running the message processing in the protocol stacks in parallel, thus minimising the impact of nodes processing times on network efficiency. The proposed ppPDC-based communication infrastructure, amongst many other possible uses such as intelligent multiagent systems, can be well-suited in distributed robotics.

关键词： communication infrastructure distributed robotics middleware for robotics producer-distributor-consumer real-time ethernet

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A "thermodynamic" approach to multi-robot cooperative localization

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THEORETICAL COMPUTER SCIENCE 2012年 457卷 59-75页

作者： Elor, Yotam Bruckstein, Alfred M. Technion Israel Inst Technol Dept Comp Sci IL-32000 Haifa Israel

We propose a new approach to the simultaneous cooperative localization of a very large group of simple robots capable of performing dead-reckoning and sensing the relative position of nearby robots. In the last decade, the use of distributed optimal Kalman filters (KF) to address this problem has been studied extensively. In this paper, we propose to use a very simple encounter based averaging process (denoted by EA). The idea behind EA is the following: every time two robots meet, they simply average their location estimates. We assume that two robots meet whenever they are close enough to allow relative location estimation and communication. At each meeting event, the robots average their location estimations thus reducing the localization error. Naturally, the frequency of the meetings affects the localization quality. The meetings are determined by the robots' movement pattern. In this work we consider movement patterns which are "well mixing", i.e. every robot meets other robots and eventually all of the robots frequently. For such a movement pattern, the time course of the expected localization error is derived. We prove that EA is asymptotically optimal and requires significantly less computation and communication resources than KF. (C) 2012 Elsevier B.V. All rights reserved.

关键词： Localization Cooperative localization Multi-agent Multi-robot distributed robotics Odometry Dead reckoning

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A Flooding Algorithm for Multirobot Exploration

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IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS 2012年第3期42卷 850-863页

作者： Cabrera-Mora, Flavio Xiao, Jizhong CUNY Grad Ctr Dept Elect Engn New York NY 10016 USA CUNY City Coll New York Dept Elect Engn New York NY 10031 USA

In this paper, we present a multirobot exploration algorithm that aims at reducing the exploration time and to minimize the overall traverse distance of the robots by coordinating the movement of the robots performing the exploration. Modeling the environment as a tree, we consider a coordination model that restricts the number of robots allowed to traverse an edge and to enter a vertex during each step. This coordination is achieved in a decentralized manner by the robots using a set of active landmarks that are dropped by them at explored vertices. We mathematically analyze the algorithm on trees, obtaining its main properties and specifying its bounds on the exploration time. We also define three metrics of performance for multirobot algorithms. We simulate and compare the performance of this new algorithm with those of our multirobot depth first search (MR-DFS) approach presented in our recent paper and classic single-robot DFS.

关键词： distributed robotics multirobot exploration networked robots

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Robotic clusters: Multi-robot systems as computer clusters A topological map merging demonstration

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robotics AND AUTONOMOUS SYSTEMS 2012年第9期60卷 1191-1204页

作者： Marjovi, Ali Choobdar, Sarvenaz Marques, Lino Univ Coimbra Inst Syst & Robot P-3000 Coimbra Portugal Univ Porto Dept Comp Sci Oporto Portugal

In most multi-robot systems, an individual robot is not capable of solving computationally hard problems due to lack of high processing power. This paper introduces the novel concept of robotic clusters to empower these systems in their problem solving. A robotic cluster is a group of individual robots which are able to share their processing resources, therefore, the robots can solve difficult problems by using the processing units of other robots. The concept, requirements, characteristics and architecture of robotic clusters are explained and then the problem of "topological map merging" is considered as a case study to describe the details of the presented idea and to evaluate its functionality. Additionally, a new parallel algorithm for solving this problem is developed. The experimental results proved that the robotic clusters remarkably speedup computations in multi-robot systems. The proposed mechanism can be used in many other robotic applications and has the potential to increase the performance of multi-robot systems especially for solving problems that need high processing resources. (C) 2012 Elsevier B.V. All rights reserved.

关键词： Robotic cluster Computer cluster distributed robotics Task sharing in multi-robot systems Cluster computing High performance computing

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Individual recognition-free target enclosure model

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ARTIFICIAL LIFE AND robotics 2012年第1期17卷 11-16页

作者： Kubo, Masao Yoshimura, Tatsuro Yamaguchi, Akihiro Sato, Hiroshi Natl Def Acad Japan Yokosuka Kanagawa 2398686 Japan Japan Ground Self Def Force Tokyo 1628801 Japan Fukuoka Inst Technol Fukuoka 8110295 Japan

Target enclosure by autonomous robots is useful for many practical applications, for example, surveillance of disaster sites. Scalability is important for autonomous robots because a larger group is more robust against breakdown, accidents, and failure. However, it is more difficult to operate a larger group of robots because their individual capacity for recognizing team-mates should be higher. In this paper, to achieve a highly scalable target enclosure model, we demonstrate a new condition for Takayama's enclosure model. The original model requires a static relationship between agents. However, robots can form an enclosure even under a dynamic topology on the basis of a nearest neighbor graph;hence, they do not require recognition capability. We confirm this by an analytical discussion of switched systems and a series of computer simulations.

关键词： Collective intelligence distributed robotics Formation Cyclic pursuit Robot swarm

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MATRIX: A Message Passing Interface for MPMD(Multiple Program Multiple Data) Applications on Heterogeneous distributed Network

MATRIX: A Message Passing Interface for MPMD(Multiple Progra...

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

作者： Lee, Dong-Hyuk Moon, Hyungpil Koo, Ja Choon Choi, Hyouk Ryeol Sungkyunkwan Univ Sch Mech Engn Suwon 440746 South Korea

ISBN: (纸本)9781467331104

This paper presents a message passing interface called MATRIX for the MPMD(Multiple Program Multiple Data) type parallel application running on a distributed network. The proposed interface provides network abstraction and peer-to-peer message transfer method to the application layer. The interface is designed to have scalability for a large-scale application. The concurrent application established on the proposed interface can be applied to a heterogeneous distributed network composed of multi-architectures and multi-OS machines. This paper describes the concepts, protocols and implementations of the message passing interface. Additionally, we present the remote file transfer and execution protocol called FTXP for large-scale applications on the message passing interface. For the verification of the proposed methods, we present an example of parallel application applied to a surveillance robot system composed of multi-architecture and multi-OS.

关键词： Message passing interface distributed robotics

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Multirobot Tree and Graph Exploration

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IEEE TRANSACTIONS ON robotics 2011年第4期27卷 707-717页

作者： Brass, Peter Cabrera-Mora, Flavio Gasparri, Andrea Xiao, Jizhong CUNY City Coll Dept Comp Sci New York NY 10031 USA CUNY City Coll Dept Elect Engn New York NY 10031 USA CUNY Grad Ctr New York NY 10016 USA CUNY City Coll Dept Elect Engn New York NY 10016 USA Univ Rome Roma Tre Dept Comp Sci I-00146 Rome Italy

In this paper, we present an algorithm for the exploration of an unknown graph by multiple robots, which is never worse than depth-first search with a single robot. On trees, we prove that the algorithm is optimal for two robots. For k robots, the algorithm has an optimal dependence on the size of the tree but not on its radius. We believe that the algorithm performs well on any tree, and this is substantiated by simulations. For trees with e edges and radius r, the exploration time is less than 2e/k + (1 + (k/r))(k-1) (2/k!)r(k-1) = (2e/k) + O((k + r)(k-1)) (for r > k, <= (2e/k) + 2r(k-1)), thereby improving a recent method with time O((e/log k) + r) [2], and almost reaching the lower bound max((2e/k), 2r). The model underlying undirected-graph exploration is a set of rooms connected by opaque passages;thus, the algorithm is appropriate for scenarios like indoor navigation or cave exploration. In this framework, communication can be realized by bookkeeping devices being dropped by the robots at explored vertices, the states of which are read and changed by further visiting robots. Simulations have been performed in both tree and graph explorations to corroborate the mathematical results.

关键词： distributed robotics mapping multirobot exploration path planning

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Multi-level spatial modeling for stochastic distributed robotic systems

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INTERNATIONAL JOURNAL OF robotics RESEARCH 2011年第5期30卷 574-589页

作者： Prorok, Amanda Correll, Nikolaus Martinoli, Alcherio Ecole Polytech Fed Lausanne Distributed Intelligent Syst & Algorithms Lab Sch Architecture Civil & Environm Engn CH-1015 Lausanne Switzerland Univ Colorado Dept Comp Sci Boulder CO 80309 USA

We propose a combined spatial and non-spatial probabilistic modeling methodology motivated by an inspection task performed by a group of miniature robots. Our models explicitly consider spatiality and yield accurate predictions on system performance. An agent's spatial distribution over time is modeled by the Fokker-Planck diffusion model and complements current non-spatial microscopic and macroscopic models that model the discrete state distribution of a distributed robotic system. We validate our models on a microscopic level based on sub-microscopic, embodied robot simulations as well as real robot experiments. Subsequently, using the validated microscopic models as our template, abstraction is raised to the level of macroscopic difference equations. We discuss the dependency of the modeling performance on the distance from the robot origin (drop-off location) and temporal convergence of the team distribution. Also, using an asymmetric setup, we show the necessity of spatial modeling methodologies for environments where the robotic platform underlies drift phenomena.

关键词： distributed intelligent systems distributed robotics probabilistic modeling swarm intelligence

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The UTIAS multi-robot cooperative localization and mapping dataset

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INTERNATIONAL JOURNAL OF robotics RESEARCH 2011年第8期30卷 969-974页

作者： Leung, Keith Y. K. Halpern, Yoni Barfoot, Timothy D. Liu, Hugh H. T. Univ Toronto Inst Aerosp Studies Toronto ON M3H 5T6 Canada

This paper presents a two-dimensional multi-robot cooperative localization and mapping dataset collection for research and educational purposes. The dataset consists of nine sub-datasets, which can be used for studying problems such as robot-only cooperative localization, cooperative localization with a known map, and cooperative simultaneous localization and mapping (SLAM) . The data collection process is discussed in detail, including the equipment we used, how measurements were made and logged, and how we obtained groundtruth data for all robots and landmarks. The format of each file in each sub-dataset is also provided. The dataset is available for download at http://***/datasets/mrclam/.

关键词： Localization mapping SLAM distributed robotics networked robots

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A Study on Strategy of Formation Control for Multi-Miner in Turning Operation

A Study on Strategy of Formation Control for Multi-Miner in ...

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MTS/IEEE OCEANS Conference

作者： Yoon, Suk-Min Yeu, Tae-kyeong Park, Soung-Jea Hong, Sup Kim, Sang-Bong KORDI Ocean Syst Engn Res Dept Daedeok Branch Taejon South Korea Pukyong Natl Univ Dept Mech & Automot Engn Busan South Korea

ISBN: (纸本)9780933957398

This paper deals with an applicability of multi-robot concept to deep-seabed mining system in aim of performance enhancement. From the viewpoint of mining production, a multi-miner system might be more prospective than single-miner. System characteristics of multi-miner are analyzed based on taxonomies of multi-robot to identify problems of the multi-miner and to find out proper solutions. Formations of multi-miner following mining paths are of great significance for the safe operation of miners connected with buffer, especially, in turning operations. Thus, this paper concentrates on the formation control method in turning path. Two turning methods and three formations are presented for formation control. Numerical simulations showed that strategies of diagonal formation result in good safety performance. The performance of the diagonal formation strategies are verified by experiments using three ground mobile robots.

关键词： Multi-Robot System Multi-Miner System Formaion Control distributed robotics Mobile Robots

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