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Guest editorial - Advances in multirobot systems

IEEE TRANSACTIONS ON robotics AND AUTOMATION 2002年第5期18卷 655-661页

作者： Arai, T Pagello, E Parker, LE Univ Tokyo Dept Precis Engn Tokyo Japan Univ Padua Dept Informat Engn I-35100 Padua Italy Univ Tennessee Dept Comp Sci Knoxville TN 37996 USA

As research progresses in distributed robotic systems, more and more aspects of multirobot systems are being explored. This Special Issue on Advances in Multirobot Systems provides a broad sampling of the research that is currently ongoing in the field of distributed mobile robot systems. To help categorize this research, we have identified seven primary research topics within multirobot systems: biological inspirations, communication, architectures, localization/mapping/exploration, object transport and manipulation, motion coordination, and reconfigurable robots. This editorial examines these research areas and discusses the Special Issue papers in this context. We conclude by identifying several additional open research issues in distributed mobile robotic systems.

关键词： cooperative robotics distributed robotics multirobot systems survey

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Development and implementation of large-scale micro-robotic forces using formation behaviors

Development and implementation of large-scale micro-robotic ...

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Conference on Unmanned Ground Vehicle Technology III

作者： Dudenhoeffer, DD Bruemmer, DJ Anderson, MO McKay, MD INEEL Idaho Falls ID 83415 USA

ISBN: (纸本)0819440590

Micro-robots may soon be available for deployment by the thousands. Consequently, controlling and coordinating a force this large to accomplish a prescribed task is of great interest. This paper describes a flexible architecture for deploying thousands of autonomous robots simultaneously. The robots' behavior is based on a subsumption architecture in which individual behaviors are prioritized with respect to all others. The primary behavior explored in this paper is group formation behavior drawn from the work in social potential fields applications conducted by Reif and Wang(1), and Dudehoeffer and Jones.(2) While many papers have examined the application of social potential fields in a simulation environment, this paper describes the implementation of this behavior in a collective of small robots.

关键词： robot social potential field online learning swarm behavior distributed robotics DOE RIM

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Multi-robot learning in an inherently cooperative task

Multi-robot learning in an inherently cooperative task

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Conference on Unmanned Ground Vehicle Technology III

作者： Parker, LE Touzet, C Oak Ridge Natl Lab Div Math & Comp Sci Ctr Engn Sci Adv Res Oak Ridge TN 37831 USA

ISBN: (纸本)0819440590

An important need in multi-robot systems is the development of mechanisms that enable robot teams to autonomously generate cooperative behaviors. This paper first briefly presents the Cooperative Multi-robot Observation of Multiple Moving Targets (CMOMMT) application as a rich domain for studying the issues of multi-robot learning of new behaviors. We discuss the results of our hand-generated algorithm for CMOMMT, and then describe our research in generating multi-robot learning techniques for the CMOMMT application, comparing the results to the hand-generated solutions. Our results show that, while the learning approach performs better than random, naive approaches, much room still remains to match the results obtained from the hand-generated approach. The ultimate goal of this research is to develop techniques for multi-robot learning and adaptation that, will generalize to cooperative robot applications in many domains., thus facilitating the practical use of multi-robot teams in a wide variety of real-world applications.

关键词： multi-robot learning cooperative. robotics inherently cooperative tasks distributed robotics

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Communal learning within a distributed robotic control system

Communal learning within a distributed robotic control syste...

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Conference on Unmanned Ground Vehicle Technology III

作者： Digney, BL Def Res Estab Suffield Medicine Hat AB T1A 8K6 Canada

ISBN: (纸本)0819440590

It is accepted that the ability to learn and adapt is key to prosperity and survival in both individuals and societies. The same is true for populations of robots. Those robots within a population that are able to learn will outperform, survive longer and perhaps exploit their non-learning coworkers. This paper describes the ongoing results of Communal Learning in the Cognitive Colonies Project (CMU/robotics and DRES), funded jointly by DARPA ITO-Software for distributed robotics and DRDC-DRES. Discussed will be how communal learning fits into the free market architecture for distributed control. Techniques for representing experiences, learned behaviors, maps and computational resources as commodities within the market economy will be presented. Once in a commodity structure, the cycle of speculate, act, receive profits or sustain losses and then learn of the market economy. This allows successful control strategies to emerge and the individuals who discovered them to become established as successful. This paper will discuss;learning to predict costs and make better deals, learning transition confidences, learning causes of death, learning with robot sacrifice and learning model parameters.

关键词： distributed robotics learning Bayes methods locally weighted regression

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distributed robotic mapping of extreme environments

Distributed robotic mapping of extreme environments

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Conference on Mobile Robots XV and Telemanipulator and Telepresence Technologies VII

作者： Thayer, SM Dias, MB Nabbe, B Digney, B Hebert, M Stentz, A Carnegie Mellon Univ Inst Robot Pittsburgh PA 15213 USA

ISBN: (纸本)081943860X

In the extreme environments posed by war fighting, fire fighting, and nuclear accident response, the cost of direct human exposure is levied in terms of injury and death. Robotic alternatives must address effective operations while removing humans from danger. This is profoundly challenging, as extreme environments inflict cumulative performance damage on exposed robotic agents. Sensing and perception are among the most vulnerable components. We present a distributed robotic system that enables autonomous reconnaissance and mapping in urban structures using teams of robots. Robot teams scout remote sites, maintain operational tempos, and successfully execute tasks, principally the construction of 3-D Maps, despite multiple agent failures. Using an economic model of agent interaction based on a free market architecture, a virtual platform (a robot colony) is synthesized where task execution does not directly depend on individual agents within the colony.

关键词： distributed robotics free market architecture cooperative stereo 3-D mapping robot colony

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A programming environment for real-time control of distributed multiple robotic systems

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ADVANCED robotics 2000年第1期14卷 75-86页

作者： Piaggio, M Sgorbissa, A Zaccaria, R Univ Genoa DIST Lab I-16145 Genoa Italy

In recent years there has been great interest in robot software control architectures. However, although many interesting solutions have been presented, most of the research problems tackled related to a single robot perception, navigation and action in everyday environments. Instead, most of the practical applications of mobile robotics fbr service tasks in civilian environments consist of systems composed of multiple robots communicating with each other, with external sensing and actuating devices, and with external supervising workstations. RoboCup offers a great opportunity to deal with this problem. In fact the software architecture of a robot soccer player must allow successful intra-robot integration of the different activities (visual perception, path planning, strategy planning, motion control, etc.) spanning many different types of representation (raw sensor data, images, symbolic plans, etc.) and it must also guarantee successful inter-robot integration by supporting communication and cooperation. This paper focuses on this problem, presenting ETHNOS-IV - a programming environment for thr design of a real-time control system composed of different robots, devices and external supervising or control stations - which has been successfully used within the Italian ART robot team in the RoboCup-99 competition. ETHNOS provides support from three main point of views which will be addressed in detail: inter-robot and intra-robot communication, realtime task scheduling, and software engineering and code reuse. Experimental results illustrating the advantages of this approach will also be presented.

关键词： heterogenous robotics control architectures distributed robotics real-time scheduling software engineering RoboCup

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Enlisting rangers and scouts for reconnaissance and surveillance

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IEEE robotics & AUTOMATION MAGAZINE 2000年第4期7卷 14-24页

作者： Rybski, PE Papanikolopoulos, NP Stoeter, SA Krantz, DG Yesin, KB Gini, M Voyles, R Hougen, DF Nelson, B Erickson, MD Univ Minnesota Dept Comp Sci & Engn Ctr Distributed Robot Minneapolis MN 55455 USA

Because some operations require covert action, most of the robots are extremely small.

关键词： miniature robots distributed robotics mobile robots teams of robots reconnaissance and surveillance

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Cooperative mobile robotics: Antecedents and directions

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AUTONOMOUS ROBOTS 1997年第1期4卷 7-27页

作者： Cao, YU Fukunaga, AS Kahng, AB CALTECH JET PROP LAB PASADENA CA 91109 USA

There has been increased research interest in systems composed of multiple autonomous mobile robots exhibiting cooperative behavior. Groups of mobile robots are constructed, with an aim to studying such issues as group architecture, resource conflict, origin of cooperation, learning, and geometric problems. As yet, few applications of cooperative robotics have been reported, and supporting theory is still in its formative stages. In this paper, we give a critical survey of existing works and discuss open problems in this field, emphasizing the various theoretical issues that arise in the study of cooperative robotics. We describe the intellectual heritages that have guided early research, as well as possible additions to the set of existing motivations.

关键词： cooperative robotics swarm intelligence distributed robotics artificial intelligence mobile robots multiagent systems

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Modular client/server architecture in multipurpose manufacturing cells

Modular client/server architecture in multipurpose manufactu...

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8th International Conference on Advanced robotics (ICAR 97)

作者： Marino, P Poza, F Nogueira, J Univ of Vigo Vigo Spain

ISBN: (纸本)0780341600

Shop floor communications networks are evolving towards the increased use of open connecting equipment, that meets standard protocols, under a client/server architecture. An implementation of a such communications server, based in a low cost PC with multiport and field bus cards, is presented. The first prototype has been designed as a black box transparent to flexible manufacturing plants, connecting until sixteen scara robots and thirty programmable logic controllers.

关键词： industrial communications integrated information systems distributed robotics flexible manufacturing systems

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Decentralized self-decision planning system for multiple intelligent mobile robots

Decentralized self-decision planning system for multiple int...

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IEEE International Conference on Intelligent Processing Systems

作者： Zhou, M Sun, MX Wang, YH Yin, CW Shenyang Polytech Univ Dept Elect Engn Shenyang 110023 Peoples R China

ISBN: (纸本)0780342534

A Intelligent planning strategy under the model of distributed robotics system is presented to deal with the problem of motion planning for multiple mobile robots in one working environment. The proposed approach not only guarantees time-energy optimality but also meets kinematic and dynamic constraints of robots. In this paper, a real-time expert system is introduced and most data required by on-line planning is computed in off-line. The simulation results based on the scheme are presented to demonstrate its efficiency.

关键词： intelligent control path planning mobile robots robot kinematics robot dynamics real-time systems expert systems decentralized self-decision planning system multiple intelligent mobile robots intelligent planning distributed robotics motion planning time-energy optimality kinematic constraints dynamic constraints real-time expert system online planning offline computation simulation

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