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Conference on Sensor Fusion and Decentralized Control in Robotic Systems III

作者： McKee, GT Schenker, PS Univ Reading Dept Comp Sci Reading Berks England

ISBN: (纸本)0819438618

In this paper we present the concept of networked robotics. The networked robotics concept develops the viewpoint that robotics systems are collections of resources that are resident at identified locations on a network and, by means of an appropriate configuration process, can be connected together into a system that can perform some desired robotic task. Under this scheme a physical robot platform, a mobile robot for example, is modeled as a set of resources and a set of such platforms contributes their resources to a resource pool. Configuration patterns define the way in which these resources are configured to create a distributed architecture, which may span more than one physical robot platform. The emphasis on distributed, configurable resources makes the concept of networked robotics particularly relevant to the areas of modular and cooperative robotics. In this paper we identify the scope of networked robotics and the key research issues it raises, including the definition of resources, their configuration into control architectures and the relation of these configuration patterns to task models. We consider the relevance of networked robotics to other areas of robotics, in particular modular and cooperative robotics, and we explore technologies and tools that might support the networked robotics concept in practice.

关键词： networked robotics robot architecture modular robotics cooperative robotics

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What is networked robotics?

What is networked robotics?

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3rd International Conference on Informatics in Control, Automation and robotics

作者： McKee, Gerard Univ Reading Sch Syst Engn Act Robot Lab Reading RG6 6AY Berks England

ISBN: (纸本)9728865600

networked robotics is an area that straddles robotics and network technology. A robot system controlled via the WWW exploits the Internet network and hence is one realisation of networked robotics. A set of field robots that exploit wireless networks to share and distribute tasks might also be considered an exemplar of networked robotics. But isn't this just an exemplar of distributed robotics? And if so, what does networked robotics bring to the 'robotics' table? These are questions and issues addressed in this paper. The paper will propose that networks are at once both enabling and constraining to robotics. They enlarge the scope of the robotics discipline yet introduce challenges that must be overcome if that potential is to be fully realized. In short, when the network becomes a design issue - normally when performance of the system is at a premium - networked robotics is at play.

关键词： networked robotics distributed robotics robot architectures

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A Platform for networked robotics

A Platform for Networked Robotics

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Cardozo, Eleri Guimaraes, Eliane Rocha, Lucio Souza, Ricardo Paolieri, Fernando Pinho, Fernando Univ Estadual Campinas Sch Elect & Comp Enginnering Campinas SP Brazil Informat Technol Ctr Renato Archer Campinas SP Brazil

ISBN: (纸本)9781424466757

Most of the environments where mobile robots are deployed offer a comprehensive networking infrastructure. In order to take part of these environments, mobile robots must enhance not only their communication capabilities, but also their interaction capabilities. Current robotic frameworks are oriented to gather data from the robotic sensors and to act on the robot's actuators. In other words, such frameworks are oriented to perform embedded control functions. In order to provide mobile robots with enhanced interaction capabilities robotic applications must rely on networking solutions focusing on integration, communication, and security. This paper presents a platform for networked robotics that favors the integration of mobile robots with other networked devices, providing a secure and federated access to the mobile robots.

关键词： actuators embedded control functions enhanced interaction capabilities robotic applications mobile robots mobile robots networked devices networked robotics robot actuators robotic sensors sensors

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Closely coupled behaviour in networked robot systems

Closely coupled behaviour in networked robot systems

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13th IASTED International Conference on robotics and Applications/IASTED International Conference on Telematics

作者： Baker, Duncan I. Mckee, Gerard T. Univ Reading Sch Syst Engn Act Robot Lab Reading RG6 6AY Berks England

ISBN: (纸本)9780889866850

Multiple cooperating robot systems may be required to take up a closely coupled configuration in order to perform a task. An example is extended baseline stereo (EBS), requiring that two robots must establish and maintain for a certain period of time a constrained kinematic relationship to each other. In this paper we report on the development of a networked robotics framework for modular, distributed robot systems that supports the creation of such configurations. The framework incorporates a query mechanism to locate modules distributed across the two robot systems. The work presented in this paper introduces special mechanisms to model the kinematic constraint and its instantiation. The EBS configuration is used as a case study and experimental implementation to demonstrate the approach.

关键词： networked robotics modular architectures kinematic constraints

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An implementation of high availability in networked robotic systems

An implementation of high availability in networked robotic ...

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4th International Conference on Informatics in Control, Automation and robotics

作者： Anton, Florin Daniel Borangiu, Theodor Anton, Silvia Univ Politehn Bucuresti Dept Automat & Appl Informat RO-060032 Bucharest Romania

ISBN: (纸本)9789728865832

In today's complex enterprise environments, providing continuous service for applications is a key component of a successful robotized implementing of manufacturing. High availability (HA) is one of the components contributing to continuous service provision for applications, by masking or eliminating both planned and unplanned systems and application downtime. This is achieved through the elimination of hardware and software single points of failure (SPOF). A high availability solution will ensure that the failure of any component of the solution - either hardware, software or system management, will not cause the application and its data to become permanently unavailable. High availability solutions should eliminate single points of failure through appropriate design, planning, hardware selection, software configuring, application control, carefully environment control and change management discipline. In short, one can define high availability as the process of ensuring an application is available for use by duplicating and/or sharing hardware resources managed by a specialized software component. A high availability solution in robotized manufacturing provides automated failure detection, diagnosis, application recovery, and node (robot controller) re integration. The paper discusses the implementing of a high availability solution in a robotized manufacturing line.

关键词： networked robotics high availability fault tolerant systems resource monitoring resource control

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Adaptable web interfaces for networked robots

Adaptable web interfaces for networked robots

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Fernández-Madrigal, JA Cruz-Martín, E Cruz-Martín, A González, J Galindo, C Univ Malaga Syst Engn & Automat Dept E-29071 Malaga Spain

ISBN: (纸本)0780389123

Most research in networked robots that use web interfaces for robot control has been focused recently on the network part, since ethernet involves poor (unpredictable) time performance. However, we believe that the problem to be addressed is more general and should not be restricted only to communication engineering: the interfaced system as a whole should adapt to get the most from the user, from the connection, and from the robot, even when no strict performance is possible. For that purpose, this paper introduces a new architecture for web remote operation of robots that exhibits a high degree of flexibility in its adaptation to each particular user (through modular, configurable JAVA Applets), to the system time-varying performance (through probability-guided, run-time adaptation of control loops), and to the robot software architecture (the standard CORBA is assumed as its middleware). Our approach constitutes an initial step for adapting comprehensively to all the mentioned issues, hence permitting to be employed in very different scenarios: real-time control, telecare, remote surveillance, etc.(dagger).

关键词： human-robot interfaces networked robotics telerobotics

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Nonlinear observability of unicycle multi-robot teams subject to nonuniform environmental disturbances

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AUTONOMOUS ROBOTS 2020年第7期44卷 1149-1166页

作者： Heintzman, Larkin Williams, Ryan K. Virginia Polytech Inst & State Univ Blacksburg VA 24060 USA

In this work, we consider the problem of localizing a team of robots, without access to direct pose measurements, under the influence of nonuniform environmental disturbances and measurement bias. Specifically, we are interested in the conditions under which teams remain range-only localizable when the environmental disturbances vary from robot to robot. We approach this problem through nonlinear observability and graph theory. After analyzing the system's observability properties, we present theorems that identify thestructuralconditions under which the system maintains local weak observability. We demonstrate thatrigidstructures are important not only in defining multi-robot interactions, but also in characterizing the influence of nonuniform disturbances. We also give several example systems to cement intuition on the derived conditions. An observability-based planner is then presented that guides a subset of robots toward trajectories that are highly observable through finite-horizon optimization on robot headings. Simulations are then presented, along with an extended Kalman filter for state estimation, and a comparison to previous methods, to corroborate and demonstrate the results derived.

关键词： Observability Nonlinear observability Estimation Graph theoretic methods Rigidity networked robotics

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Loop-shaped distributed learning of an object with data-independent performance certificates

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ADVANCED robotics 2023年第3期37卷 169-182页

作者： Oshima, Toshiyuki Yamashita, Shunya Yamauchi, Junya Ibuki, Tatsuya Seto, Michio Hatanaka, Takeshi Tokyo Inst Technol Dept Syst & Control Engn Meguro Ku Tokyo Japan Univ Tokyo Dept Informat Phys & Comp Tokyo Japan Meiji Univ Dept Elect & Bioinformat Kawasaki Kanagawa Japan Natl Def Acad Dept Math Yokosuka Kanagawa Japan

This paper addresses distributed learning of object shapes using multiple robots, and proposes a systematic design procedure for distributed optimization algorithms with data-independent performance certificates. We start with formulating the object shape learning as a distributed classification problem based on so-called kernel method. A distributed algorithm, continuous-time alternating direction method of multipliers, is then applied to the problem, wherein poor transient performances are observed. To improve the performance, we reformulate the classification problem so that singular values of sub-blocks in the algorithm are appropriately scaled. We then propose a systematic design procedure of the algorithm based on the concept of loop-shaping. The procedure is further extended so that the performance is independent of the data, and its effectiveness is verified through a numerical example. The proposed method is finally demonstrated through simulation on a high fidelity simulator.

关键词： networked robotics object shape learning distributed optimization kernel method loop shaping

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A robotic service framework supporting automated integration of ubiquitous sensors and devices

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INFORMATION SCIENCES 2007年第3期177卷 657-679页

作者： Ha, Young-Guk Sohn, Joo-Chan Cho, Young-Jo Yoon, Hyunsoo Korea Adv Inst Sci & Technol Div Comp Sci Taejon 305701 South Korea Elect & Telecommun Res Inst Intelligent Robot Res Div Taejon 305700 South Korea

In recent years, due to the emergence of ubiquitous computing technology, a new class of networked robots called ubiquitous robots has been introduced. The Ubiquitous Robotic Companion (URC) is our conceptual vision of ubiquitous service robots that provides its user with the services the user needs, anytime and anywhere, in the ubiquitous computing environments. There are requirements to be met for the vision of URC. One of the essential requirements is that the robotic systems must support ubiquity of services. This means that a robot service must always be available even though there are changes in the service environment. More specifically, a robotic system needs to be interoperable with sensors and devices in its current service environments automatically, rather than statically pre-programmed for its environment. In this paper, the design and implementation of an infrastructure for URC called Ubiquitous Robotic Service Framework (URSF) is presented. URSF enables automated integration of networked robots in a ubiquitous computing environment by the use of Semantic Web Services Technologies. (C) 2006 Elsevier Inc. All rights reserved.

关键词： ubiquitous robotics ubiquitous computing networked robotics service robotics service planning semantic Web services

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Robotic Routers: Algorithms and Implementation

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INTERNATIONAL JOURNAL OF robotics RESEARCH 2010年第1期29卷 110-126页

作者： Tekdas, Onur Yang, Wei Isler, Volkan Univ Minnesota Dept Comp Sci & Engn Minneapolis MN 55455 USA Rensselaer Polytech Inst Dept Comp Sci Troy NY 12180 USA

Mobile robots equipped with wireless networking capabilities can act as robotic routers and provide network connectivity to mobile users. Robotic routers provide cost-efficient solutions for the deployment of a wireless network in a large environment with a limited number of users. In this paper, we present motion planning algorithms for robotic routers to maintain the connectivity of a single user to a base station. We consider two motion models for the user. In the first model, the user's motion is known in advance. In the second model, the user moves in an adversarial fashion and tries to break the connectivity. We present optimal motion planning strategies for both models. We also present details of a proof-of-concept implementation.

关键词： networked robotics path planning for multiple mobile robots controlled mobility

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