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Exploiting Asynchrony in Multi-agent Consensus to Change the Agreement Point 17

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

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17th International Conference on Autonomous Agents and MultiAgent systems (AAMAS)

作者： Nagavalli, Sasanka Sundar, Ramitha Sycara, Katia Carnegie Mellon Univ Pittsburgh PA 15213 USA

ISBN: (纸本)9781450356497

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

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Multi-robot Simultaneous Coverage and Mapping of Complex Scene - Comparison of Different Strategies 17

Multi-Robot Simultaneous Coverage and Mapping of Complex Sce...

引用

17th International Conference on Autonomous Agents and MultiAgent systems (AAMAS)

作者： Matignon, Laetitia Simonin, Olivier Univ Lyon 1 CNRS Univ Lyon LIRISUMR5205 F-69622 Villeurbanne France INRIA CITI Lab Chroma Team F-69680 Chassieu France Univ Lyon INSA Lyon F-69100 Villeurbanne France

ISBN: (纸本)9781450356497

This paper addresses the problem of optimizing the observation of a human scene using several mobile robots. Mobile robots have to cooperate to find a position around the scene maximizing its coverage. The scene coverage is defined as the observation of the human pose skeleton. It is assumed that the robots can communicate but have no map of the environment. Thus the robots have to simultaneously cover and map the scene and the environment. We consider an incremental approach to master state-space complexity. robots build an hybrid metric-topological map while evaluating the observation of the human pose skeleton. To this end we propose and evaluate different online optimization strategies exploiting local versus global information. We discuss the difference of the performance and cost. Experiments are performed both in simulation and with real robots.

关键词： multi-robot systems mapping and exploration networked robot/sensor systems

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Multi-robot Simultaneous Coverage and Mapping of Complex Scene - Comparison of Different Strategies 18

Multi-Robot Simultaneous Coverage and Mapping of Complex Sce...

引用

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

作者： Laetitia Matignon Olivier Simonin Univ Lyon CNRS Universite Lyon 1 LIRIS UMR5205 & CITI Lab. Inria Chroma team F-69680 Lyon France CITI Lab. Inria Chroma team F-69680 & INSA Lyon Universite de Lyon F-69100 Lyon France

关键词： mapping and exploration networked robot/sensor systems multi-robot systems

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Multi-robot Simultaneous Coverage and Mapping of Complex Scene 18

Multi-Robot Simultaneous Coverage and Mapping of Complex Sce...

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

作者： Laetitia Matignon Olivier Simonin University of Lyon - LIRIS Lab. - CNRS Lyon France CITI Lab. - INSA Lyon - INRIA Lyon France

In this demonstration, participants will explore a system for multi-robot observation of a complex scene involving the activity of a person. Mobile robots have to cooperate to find a position around the scene maximizing its coverage,\textit i.e. allowing a complete view of the human skeleton. Simultaneously, they have to map the unknown environment around the scene. We developed a simulator that allows to generate an environment, a scene, and to simulate robots' observations and motion. During the demo, users will be able to test our simulator, including setting up a scenario and a decision algorithm, monitoring the movements, observations and maps of the robots, and visualizing the performance of the team.

关键词： mapping and exploration multi-robot systems networked robot/sensor systems

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

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

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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

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

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