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IEEE International Conference on Robotics and Automation (ICRA)

作者： Faezeh Rahbar Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory École Polytechnique Fédérale de Lausanne (EPFL) Lausanne Switzerland

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

Finding sources of airborne chemicals with mobile sensing systems finds applications in safety, security, and emergency situations related to medical, domestic, and environmental domains. Given the often critical nature of all the applications, it is important to reduce the amount of time necessary to accomplish this task through intelligent systems and algorithms. In this paper, we extend a previously presented algorithm based on source term estimation for odor source localization for homogeneous multi-robot systems. By gradually increasing the level of coordination among multiple mobile robots, we study the benefits of a distributed system on reducing the amount of time and resources necessary to achieve the task at hand. The method has been evaluated systematically through high-fidelity simulations and in a wind tunnel emulating realistic and repeatable conditions in different coordination scenarios and with different number of robots.

关键词： Robot kinematics Robot sensing systems Estimation Navigation Probabilistic logic

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Double Deep Q Networks for Sensor Management in Space Situational Awareness

arXiv

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arXiv 2022年

作者： Oakes, Benedict Richards, Dominic Barr, Jordi Ralph, Jason CDT in Distributed Algorithms University of Liverpool Liverpool United Kingdom Artificial Intelligence Group STFC Hartree Centre Daresbury United Kingdom Cyber and Information Systems Division Defence Science and Technology Laboratory United Kingdom Electrical Engineering and Electronics University of Liverpool Liverpool United Kingdom

We present a novel Double Deep Q Network (DDQN) application to a sensor management problem in space situational awareness (SSA). Frequent launches of satellites into Earth orbit pose a significant sensor management challenge, whereby a limited number of sensors are required to detect and track an increasing number of objects. In this paper, we demonstrate the use of reinforcement learning to develop a sensor management policy for SSA. We simulate a controllable Earth-based telescope, which is trained to maximise the number of satellites tracked using an extended Kalman filter. The estimated state covariance matrices for satellites observed under the DDQN policy are greatly reduced compared to those generated by an alternate (random) policy. This work provides the basis for further advancements and motivates the use of reinforcement learning for SSA. Copyright © 2022, The Authors. All rights reserved.

关键词： Kalman filters

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Introducing the New Student Activities Committee!

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IEEE ROBOTICS & AUTOMATION MAGAZINE 2018年第3期25卷 106-+页

作者： Srinivasan, Srivatsan Distributed Intelligent Systems and Algorithms Laboratory (DISAL) Ecole Polytechnique Federale de Lausanne (EPFL) Lausanne Switzerland

Provides a listing of current committee members and society officers.

关键词： Educational robots Service robots Random access memory Manipulators Manufacturing

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Multi-Robot Coordination in Dynamic Environments Shared with Humans

Multi-Robot Coordination in Dynamic Environments Shared with...

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IEEE International Conference on Robotics and Automation

作者： Zeynab Talebpour Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory (DISAL) Ecole Polytechnique Federale de Lausanne (EPFL) Lausanne Switzerland

This work addresses multi-robot coordination in social human-populated environments using a market-based framework for solving the Multi-Robot Task Allocation (MRTA) problem. Humans are considered in the proposed coordination mechanism by means of accounting for social costs in bid evaluations and requesting collaboration in socially blocking situations. Initially, the effect of a realistic environment with varying number of static/moving humans on the behavior and performance of our method is studied through an extensive suite of experiments in a high-fidelity simulator. Results show that the total traveled distance and time are increased when humans are present in the environments. Localization noise is also increased particularly in the case of static people. In the second series of experiments, a number of problematic cases resulting in longer modified paths, blocked passages, and long waits have been investigated. A comparative study targeting human-agnostic navigation and planning, human-aware navigation and human-agnostic planning, and human-aware navigation and planning has been conducted. Both simulated and real robot experiments confirm the effectiveness of accounting for humans at both team and individual levels. This leads to respecting social constraints as well as achieving a better performance based on MRTA metrics.

关键词： Robot kinematics Task analysis Navigation Planning Resource management Measurement

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Optimal path planning and coverage control for multi-robot persistent coverage in environments with obstacles

Optimal path planning and coverage control for multi-robot p...

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2017 IEEE International Conference on Robotics and Automation, ICRA 2017

作者： Palacios-Gasos, Jose Manuel Talebpour, Zeynab Montijano, Eduardo Sagues, Carlos Martinoli, Alcherio Universidad de Zaragoza Zaragoza Spain Distributed Intelligent Systems and Algorithms Laboratory Ècole Polytechnique Fédrale de Lausanne Lausanne Switzerland

ISBN: (纸本)9781509046331

Persistent coverage aims to maintain a certain coverage level over time in an environment where such level deteriorates. This level can be associated to temperature, dust or sensor information. We propose an algorithmic solution in which each robot locally finds the best paths and coverage actions to keep the desired coverage level over the whole environment. Using Fast Marching Methods, optimal paths are computed in terms of coverage quality, while keeping a safety distance to obstacles. Additionally, our solution enables a computationally efficient evaluation of a list of potential trajectories, allowing us to choose the one that mostly improves the coverage along the whole path. The combination of this algorithm with a Dynamic Window navigation makes our approach competitive in terms of flexibility and robustness in changing environments with existing solutions. Finally, we also propose a coverage action controller, locally computed and optimal, that makes the robots maintain the coverage level of the environment significantly close to the objective. Simulations and real experiments validate the whole approach. © 2017 IEEE.

关键词： Motion planning

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FPGA-Accelerated Dense Linear Machine Learning: A Precision-Convergence Trade-Off

FPGA-Accelerated Dense Linear Machine Learning: A Precision-...

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Annual IEEE Symposium on Field-Programmable Custom Computing Machines (FCCM)

作者： Kaan Kara Dan Alistarh Gustavo Alonso Onur Mutlu Ce Zhang Department of Computer Science Systems Group ETH Zurich Switzerland Distributed Algorithms and Systems IST Austria

Stochastic gradient descent (SGD) is a commonly used algorithm for training linear machine learning models. Based on vector algebra, it benefits from the inherent parallelism available in an FPGA. In this paper, we first present a single-precision floating-point SGD implementation on an FPGA that provides similar performance as a 10-core CPU. We then adapt the design to make it capable of processing low-precision data. The low-precision data is obtained from a novel compression scheme-called stochastic quantization, specifically designed for machine learning applications. We test both full-precision and low-precision designs on various regression and classification data sets. We achieve up to an order of magnitude training speedup when using low-precision data compared to a full-precision SGD on the same FPGA and a state-of-the-art multi-core solution, while maintaining the quality of training. We open source the designs presented in this paper.

关键词： Field programmable gate arrays Quantization (signal) Training Stochastic processes Hardware Machine learning algorithms Data models

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Collision avoidance with limited field of view sensing: A velocity obstacle approach

Collision avoidance with limited field of view sensing: A ve...

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2017 IEEE International Conference on Robotics and Automation, ICRA 2017

作者： Roelofsen, Steven Gillet, Denis Martinoli, Alcherio Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne United States Coordination and Interaction System Group School of Engineering École Polytechnique Fédérale de Lausanne United States

ISBN: (纸本)9781509046331

Collision avoidance, in particular between robots, is an important component for autonomous robots. It is a necessary component in numerous applications such as humanrobot interaction, automotive or unmanned aerial vehicles. While many collision avoidance algorithms take into account actuation constraints, only a few consider sensing limitations. In this paper, we present a reciprocal collision avoidance algorithm based on the velocity obstacle approach that guarantees collision-free maneuvers even when the robots are only capable to sense their environment within a limited Field Of View (FOV). We also present the challenges associated to sensors with limited FOV, show the conditions under which maneuvering can be safely done, and the modifications that a velocity obstacle approach requires to satisfy such conditions. We provide simulations and real robot experiments to validate our approach. © 2017 IEEE.

关键词： Collision avoidance

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Extending Urban Air Quality Maps Beyond the Coverage of a Mobile Sensor Network: Data Sources, Methods, and Performance Evaluation 17

Extending Urban Air Quality Maps Beyond the Coverage of a Mo...

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Proceedings of the 2017 International Conference on Embedded Wireless systems and Networks

作者： Ali Marjovi Adrian Arfire Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland

ISBN: (纸本)9780994988614

Targeting the problem of generating high-resolution air quality maps for cities, we leverage four different sources of data: (i) in-situ air quality measurements produced by our mobile sensor network deployed on public transportation vehicles, (ii) explanatory air-quality and meteorological variables obtained from two static monitoring stations, (iii) land-use data of the city, and (iv) traffic statistics. We propose two novel approaches for estimating the targeted pollutant level at desired time-location pairs, extending also to areas of the city that are beyond the coverage of our mobile sensor network. The first is a log-linear regression model which is built over a virtual dependency graph based on land-use data. The second is a deep learning framework that automatically captures the dependencies of the data based on autoencoders. We have evaluated the two proposed approaches against three canonical modeling techniques considering metrics of coefficient of determination (R²), root mean square error (RMSE), and the fraction of predictions within a factor of two of observations (FAC2). Using more than 45 million real measurements in the models, the results show consistently superior performance in respect to the canonical techniques.

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distributed Formation Control of Quadrotors under Limited Sensor Field of View 16

Distributed Formation Control of Quadrotors under Limited Se...

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International Conference on Autonomous Agents and Multiagent systems

作者： Duarte Dias Pedro U. Lima Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory EPFL Institute for Systems and Robotics IST Universidade de Lisboa

ISBN: (纸本)9781510855083

This work tackles the problem of quadrotor formation control, using exclusively on-board resources. Local inter-robot localization systems are typically characterized by limited sensing capabilities, either in range or in the field of view. Most of the existing literature on the subject uses inter-robot communication to obtain the unavailable information, but problems such as communication delays and packet loss can seriously compromise the system stability, especially when the system shows fast dynamics such as that of quadrotors. This work focuses on the sensor field of view limitation: it proposes a formation control algorithm that extends the existing methods to allow each quadrotor to control the occupied area of its sensor field of view, while moving to the right place in the formation. This decreases the situations when necessary inter-robot information is unavailable through local sensing, thus reducing the communication requirements. The system is proven to be stable when this algorithm is applied. Results, both using simulated and real quadrotors, show the correct behavior of the algorithm without the use of communications, even when each robot can only sense a subset of the robots in the group.

关键词： algorithms Experimentation Performance Quadrotors Formation Control Limited Field of View field of view algorithms experimentation Computer algorithms Robot Communication Research Not Available System stability used area Sensors formation

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distributed graph-based control of convoys of heterogeneous vehicles using curvilinear road coordinates

Distributed graph-based control of convoys of heterogeneous ...

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International Conference on Intelligent Transportation

作者： Iñaki Navarro Florian Zimmermann Milos Vasic Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory Ecole Polytechnique Fédérale de Lausanne (EPFL) Lausanne Switzerland

This paper investigates the problem of controlling a heterogeneous group of vehicles with the aim of forming multilane convoys. We use a distributed, graph-based control law, implemented in a longitudinal coordinate system parallel to the road. Each vehicle maintains a local graph with information from only nearby vehicles, in which the desired distances between vehicles are calculated dynamically. This allows for fast adaptation to the changes in the number of vehicles and their positions. We have also implemented a distributed mechanism that allows vehicles to change lane in a cooperative way within the convoy. Systematic experiments have been carried out in a high-fidelity simulator in order to show the performance of the proposed control law.

关键词： Roads Safety Laplace equations Fuels Automobiles Shape

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