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An overtaking decision algorithm for networked intelligent vehicles based on cooperative perception

An overtaking decision algorithm for networked intelligent v...

引用

IEEE Symposium on intelligent Vehicle

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

ISBN: (纸本)9781509018222

This paper presents an overtaking decision algorithm for networked intelligent vehicles. The algorithm is based on a cooperative tracking and sensor fusion algorithm that we previously developed. The ego vehicle is equipped with lane keeping and lane changing capabilities, as well as a forward-looking lidar sensor. The lidar data are fed to the tracking module which detects other vehicles, such as the vehicle that is to be overtaken (leading) and the oncoming traffic. Based on the estimated distances to the leading and the oncoming vehicles and their speeds, a risk is calculated and a corresponding overtaking decision is made. We compare the performance of the overtaking algorithm between the case when the ego vehicle only relies on its lidar sensor, and the case in which it fuses object estimates received from the leading car which also has a forward-looking lidar. Systematic evaluations are performed in Webots, a calibrated high-fidelity simulator.

关键词： Automobiles Target tracking Laser radar intelligent vehicles Clustering algorithms Fuses

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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, SIS

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

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： Robotic assembly Assembly systems Lamps Robot kinematics Mobile robots intelligent robots Humans Shape Multirobot systems System testing

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A Distributed Source Term Estimation Algorithm for Multi-Robot systems

A Distributed Source Term Estimation Algorithm for Multi-Rob...

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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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A Collaborative Sensor Fusion Algorithm for Multi-object Tracking Using a Gaussian Mixture Probability Hypothesis Density Filter

A Collaborative Sensor Fusion Algorithm for Multi-object Tra...

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International Conference on intelligent Transportation

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

This paper presents a method for collaborative tracking of multiple vehicles that extends a Gaussian Mixture Probability Hypothesis Density (GM-PHD) filter with a collaborative fusion algorithm. Measurements are preprocessed in a detect-before-track fashion, and cars are tracked using a rectangular shape model. The proposed method successfully mitigates clutter and occlusion problems. In order to extend the field of view of individual vehicles and increase the estimation confidence in the areas where a target is observable by multiple vehicles, PHD intensities are exchanged between vehicles and fused in the Collaborative GM-PHD filter using a novel algorithm based on the Generalized Covariance Intersection. The method is extensively evaluated using a calibrated, high-fidelity simulator in scenarios where vehicles exhibit both straight and curved motion at different speeds.

关键词： Collaboration Target tracking Robot sensing systems Automobiles Approximation methods Shape

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Enhancing measurement quality through active sampling in mobile air quality monitoring sensor networks

Enhancing measurement quality through active sampling in mob...

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IEEE/ASME (AIM) International Conference on Advanced intelligent Mechatronics

作者： Adrian Arfire Ali Marjovi Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory École Polytechnique Fédérale de Lausanne (EPFL) Lausanne Switzerland

ISBN: (纸本)9781509020669

In recent years, a growing number of research groups have targeted the development and deployment of networks using low-cost chemical sensors for monitoring air quality. Due to economical reasoning, most of these systems make use of some sort of mobility to increase spatial coverage. The effect of mobility on measurement quality has, however, been largely neglected. The long response time of the chemical sensors typically used for this type of application, in conjunction with platform mobility, leads to significant signal distortion. While this problem can be addressed through signal deconvolution techniques, their effectiveness is limited by the typical poor Signal-to-Noise Ratio (SNR) of the measured signal. In this paper, we study the possibility of enhancing the measurement quality of chemical sensors through the use of active sampling (or sniffing). We propose different sniffer designs, employing both fans and pumps as actuators. Using a rigorous experimental framework, inside a wind tunnel, we study the ability of active samplers to increase measurement SNR, and thus indirectly to improve sensor dynamic response. We obtain a significant and consistent improvement in SNR for one of our pump-based sniffer designs. Finally, we validate the robustness of this signal enhancement in real-world conditions through an outdoor car-based experiment.

关键词： Robot sensing systems Atmospheric measurements Pollution measurement Fans Mobile communication Signal to noise ratio Air quality

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

Distributed Spatiotemporal Suppression for Environmental Dat...

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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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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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Simulation Experiments with Bio-inspired algorithms for Odor Source Localization in Laminar Wind Flow

Simulation Experiments with Bio-inspired Algorithms for Odor...

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International Conference on Machine Learning and Applications (ICMLA)

作者： Thomas Lochmatter Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory (DISAL) École Polytechnique Fédérale de Lausanne Lausanne Switzerland

We compare three bio-inspired odor source localization algorithm (casting, surge-spiral and surge-cast) for environments with a main wind flow in simulation. The wind flow is laminar and the simulation setup similar to the setup in the wind tunnel in which we have carried out similar experiments with real robots. The algorithms are compared in terms of success rate and distance overhead when tracking the plume up to the source. We conclude that the algorithms based on upwind surge yield significantly better performance than pure casting.

关键词： Surges Casting Robot sensing systems Service robots Machine learning algorithms Machine learning intelligent systems intelligent structures Learning systems Chemical sensors

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Distributed Particle Swarm Optimization - particle allocation and neighborhood topologies for the learning of cooperative robotic behaviors

Distributed Particle Swarm Optimization - particle allocatio...

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IEEE/RSJ International Conference on intelligent Robots and systems

作者： I. Navarro E. Di Mario A. Martinoli Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering Ecole Poly technique Federale de Lausanne

In this article we address the automatic synthesis of controllers for the coordinated movement of multiple mobile robots, as a canonical example of cooperative robotic behavior. We use five distributed noise-resistant variations of Particle Swarm Optimization (PSO) to learn in simulation a set of 50 weights of an artificial neural network. They differ on the way the particles are allocated and evaluated on the robots, and on how the PSO neighborhood is implemented. In addition, we use a centralized approach that allows for benchmarking with the distributed versions. Regardless of the learning approach, each robot measures locally and individually the performance of the group using exclusively on-board resources. Results show that four of the distributed variations obtain similar fitnesses as the centralized version, and are always able to learn. The other distributed variation fails to properly learn on some of the runs, and results in lower fitness when it succeeds. We test systematically the controllers learned in simulation in real robot experiments.

关键词： Robot kinematics Mobile robots Robot sensing systems Collision avoidance Measurement Particle swarm optimization

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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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