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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

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

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Formalizing Institutions as Executable Petri Nets for distributed Robotic systems 11

Formalizing Institutions as Executable Petri Nets for Distri...

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11th European Conference on Artificial Life, ECAL 2011

作者： Pereira, José N. Silva, Porfírio Lima, Pedro U. Martinoli, Alcherio Distributed Intelligent Systems and Algorithms Laboratory EPFL Lausanne Switzerland Intelligent Robots and Systems Group Institute for Systems and Robotics Lisbon Portugal

ISBN: (纸本)9780262297141

Institutional Robotics is a new approach to the coordination of distributed robotic systems, drawing inspiration from social sciences. It aims to provide a comprehensive strategy for specifying social interactions among robots in the form of institutions. In this paper, we present a formalism for institutions in the Institutional Robotics model. We apply this formalism to two case studies. The first is concerned with a swarm of simple robots which has to maintain wireless connectivity. The second focuses on role allocation in a robotic team aimed at improving coordination and performance in a transportation task. © 2011 ECAL 2011: The 11th European Conference on Artificial Life. All rights reserved.

关键词： Robotics

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Assembly of Configurations in a Networked Robotic System: A Case Study on a Reconfigurable Interactive Table Lamp

Assembly of Configurations in a Networked Robotic System: A ...

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IEEE Swarm Intelligence Symposium

作者： Cianci, Christopher M. Nembrini, Julien Prorok, Amanda Martinoli, Alcherio Distributed Intelligent Systems and Algorithms Laboratory Ecole Polytechnique Fédérale de Lausanne CH-1015 Lausanne Switzerland

ISBN: (纸本)9781424427048

In the present study, we are interested in verifying how the progressive addition of constraints on communication and localization impact the performance of a swarm of small robots in shape formation tasks. Identified to be of importance in a swarm-user interaction context, the time required to construct a given spatial configuration is considered as a performance metric. The experimental work reported in this paper starts from global and synchronized localization information, shown to be successful both on a real hardware system and in simulation. In a second step, communication is constrained to a local scale, thus obliging a single designated robot to disseminate the global localization information to the other agents. The reliability of the radio communication channel and its impact upon the performance of the system are considered.

关键词： Communication Research Radiocommunication dike swarms Performance metrics Hardware system small robots Case studies configurability Interactive redundant constraint Desk lamps

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The Effect of the Environment in the Synthesis of Robotic Controllers: A Case Study in Multi-Robot Obstacle Avoidance using distributed Particle Swarm Optimization 12

The Effect of the Environment in the Synthesis of Robotic Co...

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12th European Conference on the Synthesis and Simulation of Living systems: Advances in Artificial Life, ECAL 2013

作者： Mario, Ezequiel Di Navarro, Inaki Martinoli, Alcherio Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering Ecole Polytechnique Federale de Lausanne Switzerland

ISBN: (纸本)9780262317092

The ability to move in complex environments is a fundamental requirement for robots to be a part of our daily lives. While in simple environments it is usually straightforward for human designers to foresee the different conditions a robot will be exposed to, for more complex environments the human design of high-performing controllers becomes a challenging task, especially when the on-board resources of the robots are limited. In this article, we use a distributed implementation of Particle Swarm Optimization to design robotic controllers that are able to navigate around obstacles of different shape and size. We analyze how the behavior and performance of the controllers differ based on the environment where learning takes place, showing that different arenas lead to different avoidance behaviors. We also test the best controllers in environments not encountered during learning, both in simulation and with real robots, and show that no single learning environment is able to generate a behavior general and robust enough to succeed in all testing environments. © 2013 Proceedings of the 12th European Conference on the Synthesis and Simulation of Living systems: Advances in Artificial Life, ECAL 2013. All rights reserved.

关键词： Controllers

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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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Aggregation-mediated collective perception and action in a group of miniature Robots

Aggregation-mediated collective perception and action in a g...

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9th International Joint Conference on Autonomous Agents and Multiagent systems 2010, AAMAS 2010

作者： Mermoud, Gregory Matthey, Loïc Evans, William C. Martinoli, Alcherio Distributed Intelligent Systems and Algorithms Laboratory EPFL-ENAC-IIE-DISAL École Polytechnique Fédérale de Lausanne Lausanne Switzerland

ISBN: (纸本)9781617387715

We introduce a novel case study in which a group of miniaturized robots screen an environment for undesirable agents, and destroy them. Because miniaturized robots are usually endowed with reactive controllers and minimalist sensing and actuation capabilities, they must collaborate in order to achieve their task efficiently. In this paper, we show how aggregation can mediate both collective perception and action while maintaining the scalability of the algorithm. First, we demonstrate the feasibility of our approach by implementing it on a real group of Alice mobile robots, which are only two centimeters in size. Then, we use a combination of both realistic simulations and macroscopic models in order to find optimal parameters that maximize the number of undesirable cells destroyed while minimizing the impact on the healthy population. Finally, we discuss the limitations of these models, both in terms of accuracy, computational cost, and scalability, and we outline the importance of an appropriate multi-level modeling methodology to ensure the relevance and the faithfulness of such models. Copyright © 2010, International Foundation for Autonomous Agents and Multiagent systems (***). All rights reserved.

关键词： Swarm intelligence

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distributed Cooperative Localization with Efficient Pairwise Range Measurements 1

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15th International Symposium on distributed Autonomous Robotic systems, DARS 2021 and 4th International Symposium on Swarm Behavior and Bio-Inspired Robotics, SWARM 2021

作者： Quraishi, Anwar Martinoli, Alcherio Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland

ISBN: (数字)9783030927905

ISBN: (纸本)9783030927899

We present a method based on covariance intersection for cooperative localization with pairwise range-only relative measurements. Our method was designed for underwater robots equipped with an acoustic communication and ranging system. Range measurements are not sufficient to compute a complete relative 3D position. Therefore, covariance intersection is performed in a transformed space along their relative estimated positions, while preserving cross-correlations between other state variables. Given the characteristics of the acoustic channel, only one robot can transmit data or a ranging request at a time, hence the pairwise limitation. We also present a heuristic for choosing a peer robot for a range measurement by maximizing mutual information. Our method places no further restrictions on the order, timing or scheduling of relative measurements. We evaluated our method for accuracy and consistency, and present results from simulations as well as outdoor experiments. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Robots

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Modelling a wireless connected swarm of mobile robots

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Swarm Intelligence 2008年第2-4期2卷 241-266页

作者： Winfield, Alan F.T. Liu, Wenguo Nembrini, Julien Martinoli, Alcherio Bristol Robotics Laboratory University of the West of England Coldharbour Lane Bristol BS16 1QY United Kingdom Distributed Intelligent Systems and Algorithms Laboratory École Polytechnique Fédérale de Lausanne 1015 Lausanne Switzerland

It is a characteristic of swarm robotics that modelling the overall swarm behaviour in terms of the low-level behaviours of individual robots is very difficult. Yet if swarm robotics is to make the transition from the laboratory to real-world engineering realisation such models would be critical for both overall validation of algorithm correctness and detailed parameter optimisation. We seek models with predictive power: models that allow us to determine the effect of modifying parameters in individual robots on the overall swarm behaviour. This paper presents results from a study to apply the probabilistic modelling approach to a class of wireless connected swarms operating in unbounded environments. The paper proposes a probabilistic finite state machine (PFSM) that describes the network connectivity and overall macroscopic behaviour of the swarm, then develops a novel robot-centric approach to the estimation of the state transition probabilities within the PFSM. Using measured data from simulation the paper then carefully validates the PFSM model step by step, allowing us to assess the accuracy and hence the utility of the model. © Springer Science + Business Media, LLC 2008.

关键词： Robots

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Top-down vs. bottom-up model-based methodologies for distributed control: a comparative experimental study 12

Top-down vs. bottom-up model-based methodologies for distrib...

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12th International Symposium on Experimental Robotics, ISER 2010

作者： Mermoud, Grégory Upadhyay, Utkarsh Evans, William C. Martinoli, Alcherio École Polytechnique Fédérale de Lausanne School of Architecture Civil and Environmental Engineering Distributed Intelligent Systems and Algorithms Laboratory Lausanne1015 Switzerland

ISBN: (纸本)9783642285714

Model-based synthesis of distributed controllers for multi-robot systems is commonly approached in either a top-down or bottom-up fashion. In this paper, we investigate the experimental challenges of both approaches, with a special emphasis on resource-constrained miniature robots. We make our comparison through a case study in which a group of 2-cm-sized mobile robots screen the environment for undesirable features, and destroy or neutralize them. First, we solve this problem using a top-down approach that relies on a graph-based representation of the system, allowing for direct optimization using numerical techniques (e.g., linear and non-linear convex optimization) under very unrealistic assumptions (e.g., infinite number of robots, perfect localization, global communication, etc.). We show how one can relax these assumptions in the context of resource-constrained robots, and explain the resulting impact on system performance. Second, we solve the same problem using a bottom-up approach, i.e., we build up computationally efficient and accurate models at multiple abstraction levels, and use them to optimize the robots’ controller using evolutionary algorithms. Finally, we outline the differences between the top-down and bottom-up approaches, and experimentally compare their performance. © Springer-Verlag Berlin Heidelberg 2014.

关键词： Convex optimization

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distributed particle swarm optimization for limited-time adaptation with real robots

Distributed particle swarm optimization for limited-time ada...

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作者： Di Mario, Ezequiel Martinoli, Alcherio Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering Ecole Polytechnique F´ed´erale de Lausanne 1015 Lausanne Switzerland

Evaluative techniques offer a tremendous potential for online controller design. However, when the optimization space is large and the performance metric is noisy, the overall adaptation process becomes extremely time consuming. Distributing the adaptation process reduces the required time and increases robustness to failure of individual agents. In this paper, we analyze the role of the four algorithmic parameters that determine the total evaluation time in a distributed implementation of a Particle Swarm Optimization (PSO) algorithm. For an obstacle avoidance case study using up to eight robots, we explore in simulation the lower boundaries of these parameters and propose a set of empirical guidelines for choosing their values. We then apply these guidelines to a real robot implementation and show that it is feasible to optimize 24 control parameters per robot within 2 h, a limited amount of time determined by the robots' battery life. We also show that a hybrid simulate-and-transfer approach coupled with a noise-resistant PSO algorithm can be used to further reduce experimental time as compared to a pure real-robot implementation. © 2014 Cambridge University Press.

关键词： Multipurpose robots

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