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检索条件"机构=Distributed Intelligent Systems and Algorithms"

共 86 条记录，以下是71-80 订阅

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Towards Multi-Level Modeling of Self-Assembling intelligent Micro-systems 09

Towards Multi-Level Modeling of Self-Assembling Intelligent ...

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International Conference on Autonomous Agents and Multiagent systems

作者： Gregory Mermoud Juergen Brugger Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory EPFL-ENAC-ISTE-DISAL Ecole Polytechnique Federale de Lausanne (EPFL) Microsystems Laboratory EPFL-STI-IMT-LMIS Ecole Polytechnique Federale de Lausanne (EPFL)

ISBN: (纸本)9781615673346

We investigate and model the dynamics of two-dimensional stochastic self-assembly of intelligent micro-systems with minimal requirements in terms of sensing, actuation, and control. A microscopic agent-based model accounts for spatiality and serves as a baseline for assessing the accuracy of models at higher abstraction level. Spatiality is relaxed in Monte Carlo simulations, which still capture the binding energy of each individual aggregate. Finally, we introduce a macroscopic model that only keeps track of the average number of aggregates in each energy state. This model is able to quantitatively and qualitatively predict the dynamics observed at lower, more detailed modeling levels. Since we investigate an idealized system, thus making very few assumptions about the exact nature of the final target system, our framework is potentially applicable to a large body of self-assembling agents ranging from functional micro.-robots endowed with simple sensors and actuators to elementary microfabricated parts. In particular, we show how our suite of models at different abstraction levels can be used for optimizing both the design of the building blocks and the control of the stochastic process.

关键词： Theory Performance Design Aggregation Self-assembly Micro-robotics Monte Carlo simulations Macroscopic modeling Multi-level modeling Monte Carlo technique hierarchical models Abstraction Markov chain theories Macroscopic models Self-assembly aggregates agglomeration

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A distributed formation-based odor source localization algorithm - design, implementation, and wind tunnel evaluation

A distributed formation-based odor source localization algor...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Jorge M. Soares A. Pedro Aguiar António M. Pascoal Alcherio Martinoli Laboratory of Robotics and Systems in Engineering and Science University of Lisbon Lisboa Portugal Distributed Intelligent Systems and Algorithms Laboratory Ecole Polytechnique Fédérale de Lausanne (EPFL) Lausanne Switzerland Faculty of Engineering University of Porto Research Center for Systems and Technology Porto Portugal

ISBN: (纸本)9781479969241

Robotic odor source localization is a promising tool with numerous applications in safety, search and rescue, and environmental science. In this paper, we present an algorithm for odor source localization using multiple cooperating robots equipped with chemical sensors. Laplacian feedback is employed to maintain the robots in a formation, introducing spatial diversity that is used to better establish the position of the flock relative to the plume and its source. Robots primarily move upwind but use odor information to adjust their position and spacing so that they are centered on the plume and trace its structure. Real-world experiments were performed with an ethanol plume inside a wind tunnel, and used to both validate the algorithm and assess the impact of different formation shapes.

关键词： Robot sensing systems Robot kinematics Algorithm design and analysis Shape Hardware

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Flexible triangular formation keeping of marine robotic vehicles using range measurements 19

Flexible triangular formation keeping of marine robotic vehi...

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19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014

作者： Rego, Francisco Soares, Jorge M. Pascoal, António Aguiar, A. Pedro Jones, Colin Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico University of Lisbon Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Porto Portugal Institute of Mechanical Engineering School of Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland National Institute of Oceanography Dona Paula Goa India

ISBN: (纸本)9783902823625

This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but has access to their heading angle and is able to measure inter-vehicle ranges. It is assumed that the distance between the leaders is constant and known. A control strategy is adopted that generates speed and heading commands so as to drive suitably defined along track and cross track errors to zero. The commands are used as input to local inner loops for yaw and speed control. The paper describes the algorithms derived for range-based control and assesses their performance in simulations using realistic models of the vehicles involved. Tests with three autonomous marine vehicles equipped with acoustic modems and ranging devices allow for the evaluation of the performance of the algorithms in a real-world situation. © IFAC.

关键词： Vehicle performance

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SwisTrack - A Flexible Open Source Tracking Software for Multi-Agent systems

SwisTrack - A Flexible Open Source Tracking Software for Mul...

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2008 IEEE/RSJ International Conference on intelligent Robots and systems, Pages 3661-4172

作者： Thomas Lochmatter Pierre Roduit Chris Cianci Nikolaus Correll Jacques Jacot Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory Ecole Polytechnique Federale de Lausanne 1015 Lausanne Switzerland

ISBN: (纸本)9781424420575

Vision-based tracking is used in nearly all robotic laboratories for monitoring and extracting of agent positions, orientations, and trajectories. However, there is currently no accepted standard software solution available, so many research groups resort to developing and using their own custom software. In this paper, we present Version 4 of SwisTrack, an open source project for simultaneous tracking of multiple agents. While its broad range of pre-implemented algorithmic components allows it to be used in a variety of experimental applications, its novelty stands in its highly modular architecture. Advanced users can therefore also implement additional customized modules which extend the functionality of the existing components within the provided interface. This paper introduces SwisTrack and shows experiments with both marked and marker-less agents.

关键词： Multi-agent systems open source Custom software Agents Resorts tracking standard software

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Specialization as an optimal strategy under varying external conditions

Specialization as an optimal strategy under varying external...

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2009 IEEE International Conference on Robotics and Automation, ICRA '09

作者： Hsieh, M. Ani Halász, Ádám Cubuk, Ekin Dogus Schoenholz, Samuel Martinoli, Alcherio Mechanical Engineering and Mechanics Department Drexel University 3141 Chestnut Street Philadelphia PA 19104 United States Department of Mathematics West Virginia University P.O. Box 6310 Morgantown WV 26506 United States Swarthmore College 500 College Ave. Swarthmore PA 19081 United States Distributed Intelligent Systems and Algorithms Laboratory École Politechnique Fédérale de Lausanne CH-1015 Lausanne Switzerland

ISBN: (纸本)9781424427895

We present an investigation of specialization when considering the execution of collaborative tasks by a robot swarm. Specifically, we consider the stick-pulling problem first proposed by Martinoli et al. [1], [2] and develop a macroscopic analytical model for the swarm executing a set of tasks that require the collaboration of two robots. We show, for constant external conditions, maximum productivity can be achieved by a single species swarm with carefully chosen operational parameters. While the same applies for a two species swarm, we show how specialization is a strategy best employed for changing external conditions.© 2009 IEEE.

关键词： Swarm intelligence

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Accommodation of NLOS for ultra-wideband TDOA localization in single- and multi-robot systems

Accommodation of NLOS for ultra-wideband TDOA localization i...

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International Conference on Indoor Positioning and Indoor Navigation (IPIN)

作者： Amanda Prorok Phillip Tomé Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering Ecole Polytechnique Fédérale de Lausanne Switzerland Electronics and Signal Processing Laboratory School of Engineering Ecole Polytechnique Fédérale de Lausanne Switzerland

Ultra-wideband (UWB) localization is one of the most promising indoor localization methods. Yet, non-line-of-sight (NLOS) positioning scenarios can potentially cause significant localization errors and remain a challenge. In this work, we propose a novel, probabilistic UWB TDOA error model which explicitly takes into account NLOS. In order to validate our approach systematically in a real world setup, we leverage the utility of a group of mobile robots, and introduce our error model into a real-time localization framework run onboard the robots. We subsequently extend our framework by employing a collaborative localization strategy which enables the sharing of inter-robot, relative position observations. Our experimental results show how the novel TDOA error model is able to improve localization performance when information on the LOS/NLOS path condition is available. These results are complemented by additional experiments which show how a collaborative team of robots is able to significantly improve localization performance when no information on the LOS/NLOS path condition is available.

关键词： Robot kinematics Mathematical model Robot sensing systems Measurement uncertainty Atmospheric measurements Particle measurements

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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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IEEE International Conference on Robotics and Automation (ICRA)

作者： José Manuel Palacios-Gasós Zeynab Talebpour Eduardo Montijano Carlos Sagüés Alcherio Martinoli Instituto de Investigación en Ingeniería de Aragón (I3A) Universidad de Zaragoza Zaragoza Spain Ecole Polytechnique Fédrale de Lausanne Zeynab Talebpour and Alcherio Martinoli are with Distributed Intelligent Systems and Algorithms Laboratory Lausanne Switzerland

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.

关键词： Robot sensing systems Planning Trajectory Collision avoidance Production

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Specialization as an optimal strategy under varying external conditions

Specialization as an optimal strategy under varying external...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： M. Ani Hsieh Adam Halasz Ekin Dogus Cubuk Samuel Schoenholz Alcherio Martinoli Mechanical Engineering and Mechanics Department Drexel University Philadelphia PA USA Department of Mathematics West Virginia University Morgantown WV USA Swarthmore College Swarthmore PA USA Distributed Intelligent Systems and Algorithms Laboratory École Polytechnique Fédérale de Lausanne Lausanne Switzerland

We present an investigation of specialization when considering the execution of collaborative tasks by a robot swarm. Specifically, we consider the stick-pulling problem first proposed by Martinoli et al., and develop a macroscopic analytical model for the swarm executing a set of tasks that require the collaboration of two robots. We show, for constant external conditions, maximum productivity can be achieved by a single species swarm with carefully chosen operational parameters. While the same applies for a two species swarm, we show how specialization is a strategy best employed for changing external conditions.

关键词： Educational robots Robot kinematics Collaboration Robot sensing systems Analytical models Productivity Environmental economics Microorganisms Educational institutions Robotics and automation

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Measuring sensible heat flux with high spatial density

Measuring sensible heat flux with high spatial density

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IEEE Sensors Applications Symposium, SAS

作者： Alexander Bahr Chris Evans Alcherio Martinoli Hendrik Huwald Chad Higgins Marc Parlange Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering Ecole Polytechnique Fédérale de Lausanne Lausanne Switzerland Environmental Fluid Mechanics and Hydrology School of Architecture Civil and Environmental Engineering Ecole Polytechnique Fédérale de Lausanne Lausanne Switzerland

Sensible heat flux is an essential quantity in the surface energy budget. Information about it is crucial for the derivation of models of air-surface interaction which in turn are needed for larger scale climate models. Sensible heat flux varies greatly across short distances and thus many sensors are required in order to obtain measurements of sufficient spatial density. The standard measurement method however requires expensive equipment which constrains the deployment of a large number of sensors. Our work implements a method relying only on the variance of the measured temperature to compute the sensible heat flux. We first verify the validity of this method and then modify Sensorscope, a commercially available weather station, to capture the required data. The resulting setup is able to provide sensible heat flux measurements with high spatial density in near real time at negligible additional cost.

关键词： Temperature sensors Temperature measurement Heating Microcontrollers Fluid flow measurement Frequency measurement

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Automated real-time control of fluidic self-assembly of microparticles

Automated real-time control of fluidic self-assembly of micr...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Massimo Mastrangeli Felix Schill Jonas Goldowsky Helmut Knapp Juergen Brugger Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory (DISAL) School of Architecture Civil and Environmental Engineering École Poly-technique Fédérale de Lausanne (EPFL) Lausanne Switzerland Swiss Center for Electronics and Microtechnology (CSEM) Alpnach Switzerland Ecole Polytechnique Federale de Lausanne Lausanne VD CH

Self-assembly is a key coordination mechanism for large multi-unit systems and a powerful bottom-up technology for micro/nanofabrication. Controlled self-assembly and dynamic reconfiguration of large ensembles of microscopic particles can effectively bridge these domains to build innovative systems. In this perspective, we present SelfSys, a novel platform for the automated control of the fluidic self-assembly of microparticles. SelfSys centers around a water-filled microfluidic chamber whose agitation modes, induced by a coupled ultrasonic actuator, drive the assembly. Microparticle dynamics is imaged, tracked and analyzed in real-time by an integrated software framework, which in turn algorithmically controls the agitation modes of the microchamber. The closed control loop is fully automated and can direct the stochastic assembly of microparticle clusters of preset dimension. Control issues specific to SelfSys implementation are discussed, and its potential applications presented. The SelfSys platform embodies at microscale the automated self-assembly control paradigm we first demonstrated in an earlier platform.

关键词： Assembly Real-time systems Clustering algorithms Robot kinematics Self-assembly Acoustics

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