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检索条件"机构=Distributed Algorithms and Systems"

共 99 条记录，以下是51-60 订阅

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distributed Spatiotemporal Suppression for Environmental Data Collection in Real-World Sensor Networks

Distributed Spatiotemporal Suppression for Environmental Dat...

引用

IEEE International Conference on distributed Computing in Sensor systems

作者： William C. Evans Alexander Bahr Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory Ecole Polytechnique Fédérale de Lausanne (EPFL) Lausanne Switzerland

ISBN: (纸本)9781479902064

Environmental processes are often severely over-sampled. As sensor networks become more ubiquitous for this purpose, increasing network longevity becomes ever more important. Radio transceivers in particular are a great source of energy consumption, and many networking algorithms have been proposed that seek to minimize their use. Traditionally, such approaches are often data agnostic, i.e., their performance is not dependent on the properties of the data they transport. In this paper we explore algorithms that exploit environmental relationships in order to reduce the amount of transmitted data while maintaining expected levels of accuracy. We employ a realistic testing environment for evaluating the power savings brought by such algorithms, based on Sensorscope, a commercial sensor network product for environmental monitoring. We implement and test a suppression-based data collection algorithm from literature that to our knowledge has never been implemented on a real system, and propose modifications that make it more suitable for real-world conditions. Using a custom extension board developed for in situ power monitoring, we show that while the algorithms greatly reduce the amount of energy spent on transmitting packets, they have no effect on the real system's overall power consumption due to its preexisting network architecture.

关键词： Environmental processes Sensor Networks purpose ecological processes Sensor networks energy consumption Data Collection Methods Energy sources algorithms attribute data NETWORK STRUCTURE Environmental data

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Swarm robotic plume tracking for intermittent and time-variant odor dispersion

Swarm robotic plume tracking for intermittent and time-varia...

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European Conference on Mobile Robots (ECMR)

作者： Ali Marjovi Lino Marques EPFL Distributed Intelligent Systems and Algorithms Laboratory Switzerland Institute of Systems and Robotics University of Coimbra Portugal

This paper presents a method for odor plume tracking by a swarm of robots in realistic conditions. In real world environments, the chemical concentration within an odor plume is patchy, intermittent and time-variant. This study shows that swarm robots can cooperatively track the odor plume towards its source by establishing a cohesive spatial sensor network to deal with the turbulences and patchy nature of odor plumes. The robots move together and maintain a distance margin between themselves in order to keep the cohesion of the constructed sensor network while the odor concentration and air-flow speed are considered in the equations of navigation of the robots in the network to more efficiently track the plume. The method is evaluated in simulation against various number of robots, the emission rate of the odor source, the number of obstacles in the environment and the size of the testing environment. The emergent behavior of the swarm proves the functionality, robustness and scalability of the system in different conditions.

关键词： Robot sensing systems Equations Mathematical model Force Olfactory Testing

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A comparison of PSO and Reinforcement Learning for multi-robot obstacle avoidance

A comparison of PSO and Reinforcement Learning for multi-rob...

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Congress on Evolutionary Computation

作者： Ezequiel Di Mario Zeynab Talebpour Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory Ecole Polytechnique Fédérale de Lausanne Switzerland

ISBN: (纸本)9781479904532

The design of high-performing robotic controllers constitutes an example of expensive optimization in uncertain environments due to the often large parameter space and noisy performance metrics. There are several evaluative techniques that can be employed for on-line controller design. Adequate benchmarks help in the choice of the right algorithm in terms of final performance and evaluation time. In this paper, we use multi-robot obstacle avoidance as a benchmark to compare two different evaluative learning techniques: Particle Swarm Optimization and Q-learning. For Q-learning, we implement two different approaches: one with discrete states and discrete actions, and another one with discrete actions but a continuous state space. We show that continuous PSO has the highest fitness overall, and Q-learning with continuous states performs significantly better than Q-learning with discrete states. We also show that in the single robot case, PSO and Q-learning with discrete states require a similar amount of total learning time to converge, while the time required with Q-learning with continuous states is significantly larger. In the multi-robot case, both Q-learning approaches require a similar amount of time as in the single robot case, but the time required by PSO can be significantly reduced due to the distributed nature of the algorithm.

关键词： Robot sensing systems Mobile robots Collision avoidance Wheels Optimization

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An Experimental Study in Wireless Connectivity Maintenance Using up to 40 Robots Coordinated by an Institutional Robotics Approach

An Experimental Study in Wireless Connectivity Maintenance U...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Jose N. Pereira Porfirio Silva Pedro U. Lima Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory EPFL Lausanne Switzerland Institute for Systems and Robotics Instituto Superior Técnico Lisbon Portugal

ISBN: (纸本)9781467363563

This work is developed in the framework of Institutional Robotics (IR), an approach to cooperative distributed robotic systems that draws inspiration from the social sciences. We consider a case study concerned with a swarm of simple robots which has to maintain wireless connectivity and a certain degree of spatial compactness. Robots have local, bounded communication capabilities and have to execute the task (running an IR controller) using exclusively as information their current number of wireless connections to neighbors. For the very same case study, we previously introduced an IR-based macroscopic model for the behavior of a large number of robots, validated using a submicroscopic model implemented through a realistic simulator. In this work, we go a step further and validate our submicroscopic model with real world experiments, duplicating accurately the conditions used, including a large number of robots and noisy communication channels. The main conclusions of this paper are two-fold. First, the IR approach was able to maintain the wireless connectivity of a swarm of 40 real, resource-constrained robots. This speaks in favor of the robustness and scalability of such approach. Second, the submicroscopic model implemented is faithfully capturing the reality and can be used to further optimize the performances of distributed control strategies using an IR approach.

关键词： IR reality can be used Wireless connectivity Robot Reality iridium dike swarms robotics role model

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Safety issues in human-robot interactions

Safety issues in human-robot interactions

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Milos Vasic Aude Billard Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering Ecole Polytechnique Federale de Lausanne Lausanne Switzerland Learning Algorithms and Systems Laboratory School of Engineering Ecole Polytechnique Federale de Lausanne Lausanne Switzerland

Safety is an important consideration in human-robot interactions (HRI). Robots can perform powerful movements that can cause hazards to humans surrounding them. To prevent accidents, it is important to identify sources of potential harm, to determine which of the persons in the robot's vicinity may be in greatest peril and to assess the type of injuries the robot may cause to this person. This survey starts with a review of the safety issues in industrial settings, where robots manipulate dangerous tools and move with extreme rapidity and force. We then move to covering issues related to the growing numbers of autonomous mobile robots that operate in crowded (human-inhabited) environments. We discuss the potential benefits of fully autonomous cars on safety on roads and for pedestrians. Lastly, we cover safety issues related to assistive robots.

关键词： Robot sensing systems Service robots Hazards Accidents Injuries

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Ca-Re-Chord: A Churn Resistant Self-Stabilizing Chord Overlay Network

Ca-Re-Chord: A Churn Resistant Self-Stabilizing Chord Overla...

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International Conference and Workshops on Networked systems (NetSys)

作者： Markus Benter Mohammad Divband Sebastian Kniesburges Andreas Koutsopoulos Kalman Graffi Algorithms and Complexity Group University of Paderborn Germany Universitat Paderborn Paderborn Nordrhein-Westfalen DE Theory of Distributed Systems Group University of Paderborn Germany Technology of Social Networks Group University of Düsseldorf Germany

Self-stabilization is the property of a system to transfer itself regardless of the initial state into a legitimate state. Chord as a simple, decentralized and scalable distributed hash table is an ideal showcase to introduce self-stabilization for p2p overlays. In this paper, we present Re-Chord, a self-stabilizing version of Chord. We show, that the stabilization process is functional, but prone to strong churn. For that, we present Ca-Re-Chord, a churn resistant version of Re-Chord, that allows the creation of a useful DHT in any kind of graph regardless of the initial state. Simulation results attest the churn resistance and good performance of Ca-Re-Chord.

关键词： Peer-to-peer computing Resistance Routing Robustness Overlay networks Social network services Educational institutions

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Multi-agent programming contest 2013: The teams and the design of their systems

Multi-agent programming contest 2013: The teams and the desi...

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1st International Workshop on Engineering Multi-Agent systems, EMAS 2013

作者： Ahlbrecht, Tobias Bender-Saebelkampf, Christian De Brito, Maiquel Christensen, Nicolai Christian Dix, Jürgen Franco, Mariana Ramos Heller, Hendrik Hess, Andreas Viktor Heßler, Axel Hübner, Jomi Fred Jensen, Andreas Schmidt Johnsen, Jannick Boese Köster, Michael Li, Chengqian Liu, Lu Morato, Marcelo Menezes Ørum, Philip Bratt Schlesinger, Federico Schmitz, Tiago Luiz Sichman, Jaime Simão De Souza, Kaio Siqueira Uez, Daniela Maria Villadsen, Jørgen Werner, Sebastian Woller, Øyvind Grønland Zatelli, Maicon Rafael Department of Informatics Clausthal University of Technology Julius-Albert-Str. 4 38678 Clausthal-Zellerfeld Germany Dept. of Computer Science Sun Yat-sen University Guangzhou 510006 China Algorithms Logic and Graphs Section Department of Applied Mathematics and Computer Science Technical University of Denmark Matematiktorvet DK-2800 Kongens Lyngby Denmark Brazil Distributed Artificial Intelligence Laboratory Technische Universität Berlin Germany Department of Automation and Systems Engineering Federal University of Santa Catarina CP 476 88040-900 Florianópolis - SC Brazil

ISBN: (纸本)9783642453427

Five teams participated in the Multi-Agent Programming Contest in 2013: All of them gained experience in 2012 already. In order to better understand which paradigms they used, which techniques they considered important and how much work they invested, the organisers of the contest compiled together a detailed list of questions (circa 50). This paper collects all answers to these questions as given by the teams. © 2013 Springer-Verlag.

关键词： Multi agent systems

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Real-time Optimization of Trajectories that Guarantee the Rendezvous of Mobile Robots

Real-time Optimization of Trajectories that Guarantee the Re...

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IEEE/RSJ International Conference on Intelligent Robotics and systems

作者： Sven Gowal Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering Ecole Polytechnique Fédérale de Lausanne.

ISBN: (纸本)9781467317375

Since the 1960s, consensus problems have puzzled the minds of many researchers in fields ranging from computer science to information aggregation. In this work, although specifically addressing the rendezvous problem for a team of mobile robots, we develop a methodology that can also be applied to other consensus problems, where optimality is important and where non-holonomicity characterizes the system at hand. In particular, we consider a group of differential-wheeled robots endowed with noisy relative positioning capabilities. We develop a distributed, real-time optimization method based on a receding horizon controller that minimizes a user-defined cost whilst guaranteeing the rendezvous. Finally, we perform experiments on real robots to confirm the validity of our approach.

关键词： ranging where non-holonomicity positioning rendezvous Mobile robots distance measurement trajectory optimization method Patient Positioning computer science optimality Robot

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Low-cost collaborative localization for large-scale multi-robot systems

Low-cost collaborative localization for large-scale multi-ro...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Amanda Prorok Alexander Bahr Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering Ecole Polytechnique Fédéral de Lausanne Switzerland

Large numbers of collaborating robots are advantageous for solving distributed problems. In order to efficiently solve the task at hand, the robots often need accurate localization. In this work, we address the localization problem by developing a solution that has low computational and sensing requirements, and that is easily deployed on large robot teams composed of cheap robots. We build upon a real-time, particle-filter based localization algorithm that is completely decentralized and scalable, and accommodates realistic robot assumptions including noisy sensors, and asynchronous and lossy communication. In order to further reduce this algorithm's overall complexity, we propose a low-cost particle clustering method, which is particularly well suited to the collaborative localization problem. Our approach is experimentally validated on a team of ten real robots.

关键词： Robot kinematics Robot sensing systems Clustering algorithms Complexity theory Collaboration Partitioning algorithms

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Online model estimation of ultra-wideband TDOA measurements for mobile robot localization

Online model estimation of ultra-wideband TDOA measurements ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Amanda Prorok Lukas Gonon Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering Ecole Polytechnique Fédéral de Lausanne Switzerland

Ultra-wideband (UWB) localization is a recent technology that promises to outperform many indoor localization methods currently available. Yet, non-line-of-sight (NLOS) positioning scenarios can create large biases in the time-difference-of-arrival (TDOA) measurements, and must be addressed with accurate measurement models in order to avoid significant localization errors. In this work, we first develop an efficient, closed-form TDOA error model and analyze its estimation characteristics by calculating the Cramér-Rao lower bound (CRLB). We subsequently detail how an online Expectation Maximization (EM) algorithm is adopted to find an elegant formalism for the maximum likelihood estimate of the model parameters. We perform real experiments on a mobile robot equipped with an UWB emitter, and show that the online estimation algorithm leads to excellent localization performance due to its ability to adapt to the varying NLOS path conditions over time.

关键词： Mathematical model Base stations Equations Estimation Measurement uncertainty Robots Position measurement

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