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International Conference on Autonomous Agents and Multiagent Systems

作者： Zoltan Beck Luke Teacy Alex Rogers Nicholas R. Jennings Electronics and Computer Science University of Southampton Department of Computer Science University of Oxford

ISBN: (纸本)9781510855083

Collaboration is essential for effective performance by groups of robots in disaster response settings. Here we are particularly interested in heterogeneous robots that collaborate in complex scenarios with incomplete, dynamically changing information. In detail, we consider a search and rescue setting, where robots with different capabilities work together to accomplish tasks (rescue) and find information about further tasks (search) at the same time. The state of the art for such collaboration is robot control based on independent planning for robots with different capabilities and typically incorporates uncertainty with only a limited scope. In contrast, in this paper, we create a joint plan to optimise all robots' actions incorporating uncertainty about the future information gain of the robots. We evaluate our planner's performance in settings based on real disasters and find that our approach decreases the response time by 20-25% compared to state-of-the-art approaches. In addition, practical constraints are met in terms of time and resource utilisation.

关键词： Multi-robot systems robot coordination Online planning Disaster response Search and rescue Hindsight optimisation Rescue multi-robot systems robot Disaster Response heterogeneous robot state of the art Religious Missions information gain Resource utilization Reaction Time

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Collision Avoidance and Give Way of heterogeneous and Variable-Sized Multiple Mobile robots Based on Glued Nodes

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IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2024年第3期21卷 3627-3638页

作者： Xing, Zichao Yue, Hao Zhang, Tingqi Wu, Weimin Hu, Ruifen Zhejiang Univ Inst Cyber Syst & Control State Key Lab Ind Control Technol Hangzhou 310027 Peoples R China Zhejiang Univ Inst Cyber Syst & Control State Key Lab Ind Control Technol Hangzhou Peoples R China Zhejiang Univ Inst Cyber Syst & Control State Key Lab Ind Control Technol Hangzhou Peoples R China Zhejiang Univ Inst Cyber Syst & Control State Key Lab Ind Control Technol Hangzhou Peoples R China Zhejiang Univ Inst Cyber Syst & Control State Key Lab Ind Control Technol Hangzhou Peoples R China

Multiple mobile robot systems (MMRSs) play an important role in workshops, storage and other scenarios. A complex MMRS can contain heterogeneous robots, and even the robot sizes are not fixed, making it more difficult to avoid collisions. As a widely studied method, the zone-controlled method is not accurate enough for a system with heterogeneous and variable-sized robots, and it increases the difficulty of applying MMRS. Based on the concept of glued nodes, this paper proposes a more accurate calculation method than the zone-controlled method to avoid collisions among heterogeneous and variable-sized robots. In order to improve the efficiency of calculating glued nodes, this paper proposes a time-to-space method, which has a constant complexity after the system runs long enough. In addition to collision avoidance, this paper also studies the problem of giving way of idle robots. This paper proposes a method which can detect those idle robots blocking the working robots and plan paths for the idle robots to find avoidance nodes to give way to the working robots. Simulation experiments are carried out based on a real automated production line scenario, and the experimental results prove the effectiveness and efficiency of the proposed methods. Note to Practitioners-In a complex MMRS, the size of different robots can be different, and even the size of a robot is different when loaded and unloaded. One of the motivations of this paper is to avoid collisions in such a complex MMRS. A collision avoidance method is proposed to avoid collisions among robots by allocating nodes in real time. At the same time, this paper also addresses the problem of idle robots blocking working robots. If an idle robot blocks some working robots, an avoidance node will be found for the idle robot to give way to the working robots. The methods proposed in this paper can be applied to the roadmap of any structure. This means that in a scenario, regardless of the structure of roadmap and the d

关键词： Multi-robot system collision avoidance heterogeneous robot variable-sized robot glued nodes give way

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Design of an Energy-Efficient Self-heterogeneous Aerial-Ground Vehicle 9

Design of an Energy-Efficient Self-Heterogeneous Aerial-Grou...

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9th International Conference on Automation, robotics and Applications (ICARA)

作者： Alajami, Abdussalam A. . Cruz, Lucas Damian Santa Pous, Rafael Univ Pompeu Fabra Dept Commun Informat Technol Barcelona Spain

ISBN: (纸本)9781665489218

The problem of increasing the operation time and extending the mobility of the limited energy capacity small-sized Unmanned Aerial Vehicles (UAVs) is studied in this paper. This paper presents a hybrid robot design and a simplified energy-efficient locomotion strategy solution that enables ground mobility locomotion for UAVs. The proposed strategy does not require installing motors for ground mobility, however, it exploits the UAV for generating taxiing locomotion. The proposed hybrid robot design, shares important characteristics of 2 heterogeneous types of robots, "Unmanned Ground Vehicles (UGVs)" and "UAVs" for the purpose of exploiting the benefits and mitigating some drawbacks that are associated with each robot type. The design consists of a quadcopter, 2 big freely rotating passive side wheels, 3 small front wheels for ground stabilization, and an autonomous custom braking system onboard.

关键词： Hybrid robot heterogeneous robot mobile robots energy-efficient UAV taxiing

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Multi-robot task allocation for airport runway inspection 34

Multi-robot task allocation for airport runway inspection

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34th Chinese Control and Decision Conference (CCDC)

作者： Shi, Andong Cheng, Shilei Sun, Lei Liu, Jingtai Nankai Univ Tianjin Key Lab Intelligent Robot Tianjin 300353 Peoples R China Nankai Univ Inst Robot & Automat Informat Syst Tianjin 300353 Peoples R China

ISBN: (纸本)9781665478960

Airport runway safety inspections and timely Foreign Object Debris (FOD) removal can effectively guarantee the safe take-off and landing of flights. At present, the number of flights taking off and landing on the airport runway is large, and the runway inspection time window is short, so there are problems such as safety inspection and FOD removal in time, which affect the safety of flight takeoff and landing. The use of multiple inspection robots for inspection and the use of multiple FOD removal robots for FOD removal can effectively shorten the inspection and FOD removal operation time. In order to solve the problem of multi-robot task allocation in airport runway safety inspection and FOD removal, this paper proposes a "inspection-removal" model and an extended Consensus Based Bundle Algorithm (CBBA) based on time window constraints, which are used for multi-robot task allocation. This algorithm effectively solves the problem of cooperative allocation between inspection robots and FOD removal robots. The algorithm has achieved good experimental results in a simulation environment, and can be used in airport runway safety inspections.

关键词： Multi-robot system task allocation CBBA Time window heterogeneous robot

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Multi-robot task allocation for airport runway inspection

Multi-robot task allocation for airport runway inspection

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第34届中国控制与决策会议

作者： Andong Shi Shilei Cheng Lei Sun Jingtai Liu Tianjin Key Laboratory of Intelligent Robotics Nankai University Institute of Robotics and Automatic Information System Nankai University

Airport runway safety inspections and timely Foreign Object Debris(FOD) removal can effectively guarantee the safe take-off and landing of *** present,the number of flights taking off and landing on the airport runway is large,and the runway inspection time window is short,so there are problems such as safety inspection and FOD removal in time,which affect the safety of flight takeoff and *** use of multiple inspection robots for inspection and the use of multiple FOD removal robots for FOD removal can effectively shorten the inspection and FOD removal operation *** order to solve the problem of multi-robot task allocation in airport runway safety inspection and FOD removal,this paper proposes a "inspection-removal" model and an extended Consensus Based Bundle Algorithm(CBBA) based on time window constraints,which are used for multi-robot task *** algorithm effectively solves the problem of cooperative allocation between inspection robots and FOD removal *** algorithm has achieved good experimental results in a simulation environment,and can be used in airport runway safety inspections.

关键词： Multi-robot system task allocation CBBA Time window heterogeneous robot

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IAPcloud: A Cloud Control Platform for heterogeneous robots

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IEEE ACCESS 2018年 6卷 30577-30591页

作者： Zheng, Song Lin, Zhicheng Zeng, Qijun Zheng, Rong Liu, Chaoru Xiong, Huafeng Fuzhou Univ Coll Elect Engn & Automat Fuzhou 350116 Fujian Peoples R China Fuzhou Univ Key Lab Ind Automat Control Technol & Informat Pr Fuzhou 350116 Fujian Peoples R China IAP Fujian Technol Co Ltd Fuzhou 350116 Fujian Peoples R China Fujian Histron Grp Co Ltd Res Inst Fuzhou 350116 Fujian Peoples R China

The cloud robotic technology makes multiple robots share resources and collaborate with each other more flexibly. Although this concept has been widely accepted by academia since it was put forward, it still faces many challenges in engineering. The main problems are that the functions of industrial robotic systems become more and more complex, and the programming language and computing environment of multiple vendor robots are significantly different, accordingly the cooperative control of different devices and the online testing become extremely difficult. Therefore, this paper proposes a new control platform for cloud robots, called IAPcloud, which has significant advantages in solving the problem of collaborative control among heterogeneous robots and their auxiliary devices, declining the programming difficulties of cloud robotic control systems and shortening the development and deployment cycle of the application. Finally, we verify the scientific and effectiveness of the IAPcloud platform by three cases, including the image recognition and tracking, the human-machine gobang game, and the online dynamic reconfiguration of control algorithms.

关键词： Cloud robot collaborative control heterogeneous robot dynamic reconfiguration

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Fast Task-Sequence Allocation for heterogeneous robot Teams with a Human in the Loop

Fast Task-Sequence Allocation for Heterogeneous Robot Teams ...

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IEEE/RSJ International Conference on Intelligent robots and Systems

作者： Karen Petersen Alexander Kleiner Oskar von Stryk Technische Universitat Darmstadt Darmstadt Germany Linkoping University Linkoping Sweden

ISBN: (纸本)9781467363563

Efficient task allocation with timing constraints to a team of possibly heterogeneous robots is a challenging problem with application, e.g., in search and rescue. In this paper a mixed-integer linear programming (MILP) approach is proposed for assigning heterogeneous robot teams to the simultaneous completion of sequences of tasks with specific requirements such as completion deadlines. For this purpose our approach efficiently combines the strength of state of the art mixed-integer linear programming (MILP) solvers with human expertise in mission scheduling. We experimentally show that simple and intuitive inputs by a human user have substantial impact on both computation time and quality of the solution. The presented approach can in principle be applied to quite general missions for robot teams with human supervision.

关键词： Teams state of the art Human task allocation Religious Missions Rescue heterogeneous robot computational time Completion

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Intermittent Connectivity Maintenance with heterogeneous robots using a Beads-on-a-Ring Strategy

Intermittent Connectivity Maintenance with Heterogeneous Rob...

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American Control Conference

作者： Rosario Aragues Dimos V. Dimarogonas DIIS Universidad de Zaragoza and Instituto de Investigacion en Ingenieria de Aragon I3A Spain KTH School of Electrical Engineering and Computer Science Stockholm Sweden

ISBN: (纸本)9781538679012;9781538679265

We consider a scenario of cooperative task servicing, with a team of heterogeneous robots with different maximum speeds and communication radii, in charge of keeping the network intermittently connected. We abstract the task locations into a 1D cycle graph that is traversed by the communicating robots, and we discuss intermittent communication strategies so that each task location is periodically visited, with a worst-case revisiting time. robots move forward and backward along the cycle graph, exchanging data with their previous and next neighbors when they meet, and updating their region boundaries. Asymptotically, each robot is in charge of a region of the cycle graph, depending on its capabilities. The method is distributed, and robots only exchange data when they meet.

关键词： heterogeneous robot task locations Intelligent robots maximum speed robot Communication Strategies region boundary

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Collaborative Air-Ground Target Searching in Complex Environments 15

Collaborative Air-Ground Target Searching in Complex Environ...

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IEEE International Symposium on Safety, Security and Rescue robotics (SSRR)

作者： Shen, Changsheng Zhang, Yuanzhao Li, Zimo Gao, Fei Shen, Shaojie Hong Kong Univ Sci & Technol Dept Elect & Comp Engn Hong Kong Hong Kong Peoples R China

ISBN: (纸本)9781538639238

Collaboration between heterogeneous robots can greatly improve the overall robot system by obtaining capabilities that each single robot is unable to achieve. In this paper, we present a collaborative robot system designed for search and rescue missions in an unknown environment with obstacles. The system consists of an aerial robot and a ground robot. An extended Kalman filter (EKF) is used for robot pose estimation, and an online trajectory generation algorithm is implemented for dynamic obstacle avoidance of the ground robot. The aerial robot first surveys an area of interests and sources a number of targets. The ground robot is then guided by the aerial robot to reach the target location while at the same time avoids obstacles along the way using a laser range finder. The system is entirely autonomous, achieves maximum efficiency and releases the human operator from all low-level types of operations. A centralized EKF is implemented with the flexibility of easily being modified into a distributed EKF.

关键词： robot sensing systems Unmanned aerial vehicles robot kinematics Cameras Collaboration Trajectory Manipulator sensing systems robot kinematics trajectory Cameras robot System Ground robot Aerial robot vehicle drone honey bees Unmanned Aerial Vehicle Air to ground missiles heterogeneous robot LASER RANGING

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A Semantic Framework for Modeling Adaptive Autonomy in Task Allocation in robotic Fleets 24

A Semantic Framework for Modeling Adaptive Autonomy in Task ...

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IEEE 24th International Conference on Enabling Technologies Infrastructures for Collaborative Enterprises

作者： Drenjanac, Domagoj Tomic, Slobodanka Dana Kathrin Kuehn, Eva Telecommun Res Ctr Vienna FTW Vienna Austria Vienna Univ Technol Space Based Comp Grp Inst Comp Languages Vienna Austria

ISBN: (纸本)9781467376921

Fundamental problem in human-robot teams is to find a set of heterogeneous robots that have to cooperate to execute a complex mission. This paper describes the Shared Knowledge Interaction Modeling (SKIM) framework for task allocation and how it is used to: 1) evaluate the performance of finding a set of robots to execute a certain task, and 2) model shared knowledge as a basis for adaptive autonomy in mixed human-robot teams. The shared knowledge is described by means of two ontologies: SKIM Resource Ontology (SKIM-RO) and SKIM Coordination Ontology (SKIM-CO). SKIM-RO describes resources, including robot capabilities and task requirements, and SKIM-CO describes coordination constraints for robot-robot and robot-human interactions. SKIM-CO is a basis for reasoning which enables the task allocation, and captures the concept of adaptive autonomy. This paper illustrates how framework is used to model and evaluate performance of task allocation in three use cases with the different level of task complexity. The results indicate how adaptive autonomy and shared knowledge improve performance in task allocation in complex missions.

关键词： adaptive autonomy robotic fleet shared knowledge space-based computing task allocation task complexity Autonomy heterogeneous robot Self tuning Ontology Frameworks robot

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