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RoboNetSim: An integrated framework for multi-robot and network simulation

robotics AND AUTONOMOUS SYSTEMS 2013年第5期61卷 483-496页

作者： Kudelski, Michal Gambardella, Luca M. Di Caro, Gianni A. Dalle Molle Inst Artificial Intelligence IDSIA Lugano Switzerland

In networked multi-robot systems, communication plays a major role defining system's dynamics and performance. Unfortunately, existing multi-robot simulators do not provide advanced communication models. Therefore, given the intrinsic unreliability of wireless communications, significant differences might be observed between simulation and real-world results. Addressing these issues, we present RoboNetSim, an integrated simulation framework for communication-realistic simulation of networked multi-robot systems. RoboNetSim integrates multi-robot simulators with network simulators. We present two model implementations based on ARGoS at the robotic side, and NS-2 and NS-3 as network simulators. We evaluate the framework in terms of accuracy and computational performance, showing that it can efficiently simulate systems consisting of hundreds of robots. Using the Stage simulator as an example, we also show the integration of a robotic simulator with RoboNetSim by only adapting robot controllers, without the need to adapt the general code of the simulator. Finally, we demonstrate the effects of communication on mobile multi-robot systems. We consider two different case studies: a distributed coordination and task assignment scenario, and a coordinated mobility scenario. We compare realistic network simulation with simplified communication models and algorithms, and we study the resulting behavior and performance of the multi-robot system and the impact of different parameters. (C) 2013 Elsevier B.V. All rights reserved.

关键词： networked robotics Simulation Communication Distributed coordination Multi-robot systems

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Robotic Ubiquitous Cognitive Ecology for Smart Homes

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2015年第1-Sup期80卷 S57-S81页

作者： Amato, G. Bacciu, D. Broxvall, M. Chessa, S. Coleman, S. Di Rocco, M. Dragone, M. Gallicchio, C. Gennaro, C. Lozano, H. McGinnity, T. M. Micheli, A. Ray, A. K. Renteria, A. Saffiotti, A. Swords, D. Vairo, C. Vance, P. CNR ISTI I-56100 Pisa Italy Univ Pisa Pisa Italy Univ Orebro Stockholm Sweden Univ Ulster Ulster Londonderry North Ireland Univ Dublin Trinity Coll Dublin 2 Ireland Tecnalia Madrid Spain Univ Coll Dublin Dublin 2 Ireland

Robotic ecologies are networks of heterogeneous robotic devices pervasively embedded in everyday environments, where they cooperate to perform complex tasks. While their potential makes them increasingly popular, one fundamental problem is how to make them both autonomous and adaptive, so as to reduce the amount of preparation, pre-programming and human supervision that they require in real world applications. The project RUBICON develops learning solutions which yield cheaper, adaptive and efficient coordination of robotic ecologies. The approach we pursue builds upon a unique combination of methods from cognitive robotics, machine learning, planning and agent-based control, and wireless sensor networks. This paper illustrates the innovations advanced by RUBICON in each of these fronts before describing how the resulting techniques have been integrated and applied to a proof of concept smart home scenario. The resulting system is able to provide useful services and pro-actively assist the users in their activities. RUBICON learns through an incremental and progressive approach driven by the feedback received from its own activities and from the user, while also self-organizing the manner in which it uses available sensors, actuators and other functional components in the process. This paper summarises some of the lessons learned by adopting such an approach and outlines promising directions for future work.

关键词： Robotic ecology networked robotics Ambient assisted living Cognitive robotics Wireless sensor and actuator networks Home automation Activity recognition Activity discovery

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Consensus and formation control on SE (3) for switching topologies

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AUTOMATICA 2016年 66卷 109-121页

作者： Thunberg, Johan Goncalves, Jorge Hu, Xiaoming Univ Luxembourg Campus Belval 7Ave Hauts Fourneaux L-4362 Esch Sur Alzette Luxembourg KTH Royal Inst Technol S-10044 Stockholm Sweden

This paper addresses the consensus problem and the formation problem on SE(3) in multi-agent systems with directed and switching interconnection topologies. Several control laws are introduced for the consensus problem. By a simple transformation, it is shown that the proposed control laws can be used for the formation problem. The design is first conducted on the kinematic level, where the velocities are the control laws. Then, for rigid bodies in space, the design is conducted on the dynamic level, where the torques and the forces are the control laws. On the kinematic level, first two control laws are introduced that explicitly use Euclidean transformations, then separate control laws are defined for the rotations and the translations. In the special case of purely rotational motion, the consensus problem is referred to as consensus on SO(3) or attitude synchronization. In this problem, for a broad class of local representations or parameterizations of SO(3), including the Axis-Angle Representation, the Rodrigues Parameters and the Modified Rodrigues Parameters, two types of control laws are presented that look structurally the same for any choice of local representation. For these two control laws we provide conditions on the initial rotations and the connectivity of the graph such that the system reaches consensus on SO(3). Among the contributions of this paper, there are conditions for when exponential rate of convergence occurs. A theorem is provided showing that for any choice of local representation for the rotations, there is a change of coordinates such that the transformed system has a well known structure. (C) 2016 Elsevier Ltd. All rights reserved.

关键词： Attitude synchronization Formation control Multi-agent systems networked robotics

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Constrained distributed algebraic connectivity maximization in robotic networks

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AUTOMATICA 2013年第5期49卷 1348-1357页

作者： Simonetto, Andrea Keviczky, Tamas Babuska, Robert Delft Univ Technol Delft Ctr Syst & Control NL-2628 CD Delft Netherlands

We consider the problem of maximizing the algebraic connectivity of the communication graph in a network of mobile robots by moving them into appropriate positions. We define the Laplacian of the graph as dependent on the pairwise distance between the robots and we approximate the problem as a sequence of Semi-Definite Programs (SDP). We propose a distributed solution consisting of local SDPs which use information only from nearby neighboring robots. We show that the resulting distributed optimization framework leads to feasible subproblems and through its repeated execution, the algebraic connectivity increases monotonically. Moreover, we describe how to adjust the communication load of the robots based on locally computable measures. Numerical simulations show the performance of the algorithm with respect to the centralized solution. (c) 2013 Elsevier Ltd. All rights reserved.

关键词： Distributed control of robotic networks Connectivity maximization State-dependent graph Laplacian Collaborative systems networked robotics

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Integrated remote control of the process capability and the accuracy of vision calibration

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robotics AND COMPUTER-INTEGRATED MANUFACTURING 2014年第5期30卷 451-459页

作者： Kwon, Yongjin (James) Hong, Jungwan Ajou Univ Dept Ind Engn Suwon 443749 South Korea

This study aims at jointly controlling two critical process parameters from a remote site, of which include the process capability of robotic assembly operations and the accuracy of vision calibration. The process capability is regarded as the indication of robot positioning accuracy. When the robot is driven by the vision camera, the process capability becomes mainly dependent on the calibration accuracy of vision-guided robot system. Even though newly commissioned, high precision assembly robots typically display excellent positioning accuracies under normal working conditions, the imperfect mathematical conversion of vision coordinates into robot coordinates imparts the accuracy problems. In this study, a novel vision calibration method is proposed that effectively rectifies the inherent complications associated with lens distortions. Our analysis shows that the degree of lens distortion appears very differently along the vision field of view. Because of this non-uniform distortion, a single mathematical equation for vision calibration is deemed ineffective. The proposed methodology significantly improves the positioning accuracy, which can be performed over the network from a remote site. This is better suited for today's global manufacturing companies, where fast product cycles and geographically distributed production lines dictate more efficient and effective quality control strategies. (c) 2014 Elsevier Ltd. All rights reserved.

关键词： New calibration methods Vision guidance Remote control Process capability networked robotics

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High-dimensional Kuramoto models on Stiefel manifolds synchronize complex networks almost globally

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AUTOMATICA 2020年第0期113卷 108736-000页

作者： Markdahl, Johan Thunberg, Johan Goncalves, Jorge Univ Luxembourg Luxembourg Ctr Syst Biomed Belval Luxembourg Halmstad Univ Sch Informat Technol Halmstad Sweden

The Kuramoto model of coupled phase oscillators is often used to describe synchronization phenomena in nature. Some applications, e.g., quantum synchronization and rigid-body attitude synchronization, involve high-dimensional Kuramoto models where each oscillator lives on the n-sphere or SO(n). These manifolds are special cases of the compact, real Stiefel manifold St(p, n). Using tools from optimization and control theory, we prove that the generalized Kuramoto model on St(p, n) converges to a synchronized state for any connected graph and from almost all initial conditions provided (p, n) satisfies p <= 2/3 n - 1 and all oscillator frequencies are equal. This result could not have been predicted based on knowledge of the Kuramoto model in complex networks over the circle. In that case, almost global synchronization is graph dependent;it applies if the network is acyclic or sufficiently dense. This paper hence identifies a property that distinguishes many high-dimensional generalizations of the Kuramoto models from the original model. (C) 2019 Elsevier Ltd. All rights reserved.

关键词： Synchronization Kuramoto model Stiefel manifold Multi-agent system Decentralization networked robotics

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Efficient base station connectivity area discovery

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INTERNATIONAL JOURNAL OF robotics RESEARCH 2013年第12期32卷 1398-1410页

作者： Twigg, Jeffrey N. Fink, Jonathan R. Yu, Paul L. Sadler, Brian M. US Army Res Lab Adelphi MD 20783 USA

Many applications of autonomy are significantly complicated by the need for wireless networking, with challenges including scalability and robustness. Radio accomplishes this in a complex environment, but suffers from rapid signal strength variation and attenuation typically much worse than free space loss. In this paper, we propose and test algorithms to autonomously discover the connectivity area for a base station in an unknown environment using an average of received signal strength (RSS) values and a RSS threshold to delineate the goodness of the channel. We combine region decomposition and RSS sampling to cast the problem as an efficient graph search. The nominal RSS in a sampling region is obtained by averaging local RSS samples to reduce the small-scale fading variation. The RSS gradient is exploited during exploration to develop an efficient approach for discovery of the base station connectivity boundary in an unknown environment. Indoor and outdoor experiments demonstrate the proposed techniques. The results can be used for sensing and collaborative autonomy, building base station coverage maps in unknown environments, and facilitating multi-hop relaying to a base station.

关键词： communication maintenance networked robotics environment sampling channel estimation map decomposition

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Learning communication delay patterns for remotely controlled UAV networks

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IFAC-PapersOnLine 2017年第1期50卷 13216-13221页

作者： Yoo, Jaehyun Johansson, Karl H. Department of Automatic Control School of Electrical Engineering KTH Royal Institute of Technology Stockholm Sweden

This paper deals with collaborative unmanned aerial vehicles (UAVs) that are remotely controlled from a cloud server. The main contribution is to apply machine learning technique to find a pattern of network-induced effects on maneuvers of UAVs, in order to compensate for time delays and packet losses in remote communication. As machine learning technique, a Gaussian process (GP) based approach is employed due to its computational simplicity and flexibility in modelling complex expressions using a small number of parameters. We combine a deterministic compensation for an enhanced GP model to overcome a problem of the lack of training data at the beginning of training phase. This is done by defining training data input as a set of delayed observation and the deterministic compensation term, and by training the GP on residual between the true state and the input set. The proposed algorithm is evaluated to collaborative trajectory tracking of two UAVs. Simulations are performed for various delays and tracking scenarios. It is shown that the better tracking results are achieved compared to a conventional linear compensation algorithm. © 2017

关键词： Learning systems Aircraft detection Antennas Artificial intelligence Delay control systems Learning algorithms Time delay Unmanned aerial vehicles (UAV) Communication delays Delayed observation Linear compensations Machine learning techniques networked robotics Remote communication Time delay systems Trajectory tracking

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LOGUE: an architecture for task and behavior object transmission among multiple autonomous robots

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robotics AND AUTONOMOUS SYSTEMS 2003年第3-4期44卷 261-271页

作者： Wang, ZD Takahashi, T Nitsuma, T Ninjouji, T Nakano, E Tohoku Univ Intelligent Robot Lab Grad Sch Engn Sendai Miyagi 9808579 Japan Tohoku Univ Grad Sch Informat Tohoku Japan NTT DoCoMo Inc Multimedia Lab Yokosuka Kanagawa Japan

This paper proposes a new communication and control architecture which improves the capability and the flexibility of multiple autonomous robot systems in performing a complicated task and coping with unpredictable situations. This system treats robot's information as a Behavior Element Object (BEO) and a Task Object (TO) in terms of Object Oriented paradigm. Both BEO and TO can be serialized, so they can be communicated among the robots and behavior server system in the network. The action manager module, device module, and some checking mechanisms are also designed for executing new TO or BEO sent from other robots or a server system. A simulation and basic experiments are presented for a situation of robots' relief for an emergency purpose. (C) 2003 Elsevier B.V. All rights reserved.

关键词： networked robotics task and behavior object multiple robots autonomous system

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In-Network Computations of Machine-to-Machine Communications for Wireless robotics

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WIRELESS PERSONAL COMMUNICATIONS 2013年第3期70卷 1097-1119页

作者： Tseng, Fan-Min Lin, Chi-Heng Chen, Kwang-Cheng Natl Taiwan Univ Grad Inst Commun Engn Taipei 106 Taiwan Natl Taiwan Univ INTEL NTU Context Comp Ctr Taipei 106 Taiwan

Wireless robotics enables wide applications of service robots to benefit human life. However, effective machine-to-machine communications would be the foundation of operation. With cloud-based architecture, we innovatively demonstrate in-network computation to significantly alleviate the requirement of communication bandwidth for multi-hop networking, to achieve spectrum-efficient M2M communications. We further characterize the coverage geographical of machines to impact effective operation of wireless robotics.

关键词： In-network computation Data reduction Information collection networked robotics Wireless robotics Machine-to-machine communications Sensor networks Ad hoc networks

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