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Toward Intelligent Security robots: A Survey

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND REVIEWS 2012年第6期42卷 1219-1230页

作者： Theodoridis, Theodoros Hu, Huosheng Univ Essex Sch Comp Sci & Elect Engn Colchester CO4 3SQ Essex England

In this paper, a survey is being conducted on the investigation of a four-class taxonomy related to security robots that appeared over the past three decades. The survey emphasizes on state-of-the-art mobile technologies that have been developed for crime-fighting robots, capable of crafting critical situations with confrontation strategies. Throughout this investigation, 60 projects are being examined with respect to faculties and sensor apparatus being used. A statistical analysis, which is carried on the historical developments of the most attractive frameworks, reveals the popularity of the four security robot categories and their chronological progress over the past 30 years. The categories being evaluated regard teleoperated, distributed, surveillance, and law-enforcement robot architectures. In the survey, an attempt is made to explain the importance of intelligent methodologies, and their emergent effects in security tasks. The major findings of this analysis illustrate the minor contribution of intelligent architectures in crime-fighting robots, and what constitutes an intelligent security robot.

关键词： distributed robots law-enforcement robots (LERs) security robots surveillance robots teleoperated robots

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Decision Making as Optimization in Multi-robot Teams

Decision Making as Optimization in Multi-robot Teams

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8th International Conference on distributed Computing and Internet Technologies (ICDCIT 2012)

作者： Parker, Lynne E. Univ Tennessee Knoxville TN 37996 USA

ISBN: (纸本)9783642280726;9783642280733

A key challenge in multi-robot teaming research is determining how to properly enable robots to make decisions on actions they should take to contribute to the overall system objective. This article discusses how many forms of decision making in multi-robot teams can be formulated as optimization problems. In particular, we examine the common multi-robot capabilities of task allocation, path planning, formation generation, and target tracking/observation, showing how each can be represented as optimization problems. Of course, globally optimal solutions to such formulations are not possible, as it is well-known that such problems are intractable. However, many researchers have successfully built solutions that are approximations to the global problems, which work well in practice. While we do not argue that all decision making in multi-robot systems should be based on optimization formulations, it is instructive to study when this technique is appropriate. Future development of new approximation algorithms to well-known global optimization problems can therefore have an important positive impact for many applications in multi-robot systems.

关键词： distributed robots multi-robot systems decision making

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An Implementation of a distributed Service Framework for Cloud-based Robot Services

An Implementation of a Distributed Service Framework for Clo...

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Annual Conference on IEEE Industrial Electronics Society

作者： Sachiko Nakagawa Noboru Igarashi Yosuke Tsuchiya Masahiko Narita Yuka Kato Graduate School of Industrial Technology Advanced Institute of Industrial Technology

ISBN: (纸本)9781467324199

Recently, many ICT companies as well as researchers are taking an increasing interest in robot services using cloud computing, and various service platforms for them have been proposed. From these backgrounds, we have proposed a distributed service framework using Robot Service Network Protocol (RSNP) to integrate various devices including robots with internet services. The key mechanism of the proposed framework is a robot assignment function, which discovers distributed robot resources and assign the requested tasks by end users to suitable robots. In this paper, we implement a prototype system on the proposed framework, and conduct implementation evaluation using the system.

关键词： Robot service platforms distributed service Internet services Frameworks End users Cloud Computing Legal Services distributed robots

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A PATH PLANNING METHOD BASED ON CELLULAR AUTOMATA FOR COOPERATIVE robots

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APPLIED ARTIFICIAL INTELLIGENCE 2011年第8期25卷 721-745页

作者： Ioannidis, Konstantinos Sirakoulis, Georgios Ch Andreadis, Ioannis Democritus Univ Thrace Dept Elect Engn & Comp Engn Elect Lab GR-67100 Xanthi GR Greece

A Cellular Automaton-based technique suitable for solving the path planning problem in a distributed robot team is outlined. Real-time path planning is a challenging task that has many applications in the fields of artificial intelligence, moving robots, virtual reality, and agent behavior simulation. The problem refers to finding a collision-free path for autonomous robots between two specified positions in a configuration area. The complexity of the problem increases in systems of multiple robots. More specifically, some distance should be covered by each robot in an unknown environment, avoiding obstacles found on its route to the destination. On the other hand, all robots must adjust their actions in order to keep their initial team formation immutable. Two different formations were tested in order to study the efficiency and the flexibility of the proposed method. Using different formations, the proposed technique could find applications to image processing tasks, swarm intelligence, etc. Furthermore, the presented Cellular Automaton (CA) method was implemented and tested in a real system using three autonomous mobile minirobots called E-pucks. Experimental results indicate that accurate collision-free paths could be created with low computational cost. Additionally, cooperation tasks could be achieved using minimal hardware resources, even in systems with low-cost robots.

关键词： image processing task Path planning Geologic Formations destination hardware resource Autonomous robots Robot distributed robots

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A novel low-cost, limited-resource approach to autonomous multi-robot exploration and mapping

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ROBOTICS AND AUTONOMOUS SYSTEMS 2010年第2期58卷 186-202页

作者： Gifford, Christopher M. Webb, Russell Bley, James Leung, Daniel Calnon, Mark Makarewicz, Joseph Banz, Bryan Agah, Arvin Univ Kansas Dept Elect Engn & Comp Sci Lawrence KS 66045 USA

Mobile robots are becoming more heavily used in environments where human involvement is limited, impossible, or dangerous. These robots perform some of the more laborious human tasks oil Earth and throughout the solar system, simultaneously saving resources and offering automation. Higher levels of autonomy are also being sought in these applications, such as distributed exploration and mapping of unknown areas. Smaller, less expensive mobile robots are becoming more prevalent, which introduces unique challenges in terms of limited sensing accuracy and onboard computing resources. This paper presents a novel low-cost, limited-resource approach to autonomous multi-robot mapping and exploration in unstructured environments. Design and implementation details are presented, along with results from two planetary style environments. Results demonstrate that low-cost ($ 1250) mobile robots capable of simultaneous localization and mapping can be Successfully constructed. The multi-robot system presented in this paper participated in the 2008 International Conference oil Robotics and Automation (ICRA) Space Robotics Challenge, receiving two awards for successfully completing the 'Onto the Surface' and 'Map the Environment' events in a simulated planetary environment. This work demonstrates not only that such systems are possible, but also that this direction of research is important and needs attention. Published by Elsevier B.V.

关键词： Mobile robots distributed robots Multi-robot team Low-cost SLAM Planetary exploration

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Cooperative Interaction of Walking Human and distributed Robot Maintaining Stability of Swarm

Cooperative Interaction of Walking Human and Distributed Rob...

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2nd Conference on Human System Interactions

作者： Hashimoto, Hiroshi Yokota, Sho Sasaki, Akinori Ohyama, Yasuhiro Kobayashi, Hiroyuki Adv Inst Ind Technol Tokyo Japan Setsunan Univ Osaka Japan Tokyo Univ Technol Tokyo Japan Osaka Inst Technol Osaka 535 Japan

ISBN: (纸本)9781424439591

This paper proposes a method of cooperative interaction that a human and distributed robots move cooperatively so as to maintain the swarm situation that robots surround the moving human. This paper is concerned with the control for maintaining the high stability of the swarm, and proposes a control algorithm for the robotic swarm in obstacle or slope space. The proposed algorithm for overcoming above problems is based on the center of gravity of the local swarm which attracts the robot to it, and is applied to the omnidirectional mobile robots. It is confirmed that the effectiveness about maintaing the stability of the swarm through simulations using ODE (Open Dynamics Engine).

关键词： cooperative interaction distributed robots stability of swarm omni-directional mobile robot

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Robust and efficient covering of unknown continuous domains with simple, ant-like a(ge)nts

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INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH 2008年第7期27卷 815-831页

作者： Osherovich, Eliyahu Yanovki, Vladimir Wagner, Israel A. Bruckstein, Alfred M. Technion Israel Inst Technol Dept Comp Sci IL-32000 Haifa Israel IBM Haifa Res Lab IL-31905 Haifa Israel

We propose a new 'Mark-Ant-Walk' algorithm for robust and efficient covering of continuous domains by ant-like robots with very limited capabilities. The robots can mark places visited with pheromone marks and sense the level of the pheromone in their local neighborhood. In the case of multiple robots, these pheromone marks can be sensed by all robots and provide the only way of (indirect) communication between the robots. The robots are assumed to be memoryless, and to have no information besides that mentioned above. Despite the robots' simplicity we show that they are able, by running a very simple rule of behavior, to ensure efficient covering of arbitrary connected domains, including non-planar and multidimensional domains. The novelty of our algorithm lies in the fact that, unlike previously proposed methods, our algorithm works on continuous domains without relying on some induced underlying graph effectively reducing the problem to a discrete case of graph covering. In addition, we demonstrate various benefits of our algorithm such as ability to cope with arbitrary initial pheromone profile and a bounded constant time between two successive visits of the robot at the same location, making it suitable for patrolling. Finally, we provide a new theoretical bound on covering time of a wide family of such mark and walk algorithms.

关键词： ant robotics covering domain coverage swarm intelligence distributed robots

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CSMA/CD with reservations in wireless communication: A novel approach to resolve collisions

CSMA/CD with reservations in wireless communication: A novel...

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International Conference on Control, Automation and Systems

作者： Kim, Dong-Han Park, Chong-Kug Kyung Hee Univ Dept Elect Engn Yongin 449701 Gyeonggi Do South Korea

ISBN: (纸本)9788995003879

This paper proposes a medium access protocol, CSMA/CD-R (Carrier Sense Multiple Access/Collision Detection with Reservation), designed for wireless network mobile robots under a distributed robot system without any centralized mechanism. It employs stations to reserve a communication channel after communication collision such that it shows better performance than conventional CSMA protocol for the wireless communication of the distributed robot system. The effectiveness and applicability of the proposed protocol are demonstrated by carrying out computer simulations and real experiments with the robot soccer system.

关键词： CARRIER SYSTEM Collisions Communication channels distributed robots Robot System Wireless networks Computer Simulation STATIONS Media Access Protocol carrier sense

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Localization and navigation assisted by networked cooperating sensors and robots

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INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH 2005年第9期24卷 771-786页

作者： Corke, P Peterson, R Rus, D CSIRO ICT Ctr Brisbane Qld Australia MIT Comp Sci & Artificial Intelligence Lab Cambridge MA 02139 USA Dartmouth Coll Dartmouth Comp Sci Dept Hanover NH 03755 USA Dartmouth Coll Inst Secur Technol Studies Hanover NH 03755 USA

In this paper we discuss how a network of sensors and robots can cooperate to solve important robotics problems such as localization and navigation. We use a robot to localize sensor nodes, and we then use these localized nodes to navigate robots and humans through the sensorized space. We explore these novel ideas with results from two large-scale sensor network and robot experiments involving 50 motes, two types of flying robot: an autonomous helicopter and a large indoor cable array robot, and a human-network interface. We present the distributed algorithms for localization, geographic routing, path definition and incremental navigation. We also describe how a human can be guided using a simple hand-held device that interfaces to this same environmental infrastructure.

关键词： distributed robots networked robots localization navigation sensor nets

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Localization and navigation assisted by networked cooperating sensors and robots

Localization and navigation assisted by networked cooperatin...

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11th International Symposium on Robotics Research

关键词： distributed robots networked robots localization navigation sensor nets

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