书目名称 | Distributed Autonomous Robotic Systems 7 | 编辑 | Maria Gini,Richard Voyles | 视频video | http://file.papertrans.cn/282/281759/281759.mp4 | 概述 | Includes the papers that have been selected by an international program committee for presentation at the 8th International Symposium on Distributed Autonomous Robotic Systems.Papers present state-of- | 图书封面 |  | 描述 | The goalof the 8th Symposium on Distributed Autonomous Robotic Systems (DARS) is to exchange and stimulate research ideas to realize advanced d- tributed robotic systems. Technologies, algorithms, and system architectures will be presented and discussed during the symposium. DARS 2006 builds upon past successes and provides an exciting envir- ment for researchers to present and discuss their novel theoretical results, - plementations, and applications. DARS successfully took place in 1992, 1994, and 1996 in Japan (Riken, Wako), in 1998 in Germany (Karlsruhe), in 2000 in Knoxville (Tennessee, USA), in 2002 at Fukuoka (Japan), and in 2004 at LAAS in Toulouse (France). DARS 2006 will be held in the Minneapolis campus of the University of Minnesota, in the Electrical Engineering and Computer Science building. A total of 42 technical papers were submitted by authors from multiple countries. All the submissions were rigorouslyreviewed by the ProgramC- mittee. Of those submissions 24 were accepted. The overall outcome of the revision process is an excellent selection of papers that showcase the research in distributed autonomous robotics today. We would like to take this opportunity to th | 出版日期 | Conference proceedings 2006 | 关键词 | architecture; control; modeling; robot; robotics | 版次 | 1 | doi | https://doi.org/10.1007/4-431-35881-1 | isbn_softcover | 978-4-431-54730-3 | isbn_ebook | 978-4-431-35881-7 | copyright | Springer-Verlag Tokyo 2006 |
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Front Matter |
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Abstract
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,A Distributed Biconnectivity Check, |
Mazda Ahmadi,Peter Stone |
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Abstract
For many distributed autonomous robotic systems, it is important to maintain communication connectivity among the robots. That is, each robot must be able to communicate with each other robot, perhaps through a series of other robots. Ideally, this property should be robust to the removal of any single robot from the system. In this work, we define a property of a team’s communication graph that ensures this property, called biconnectivity. We present a distributed algorithm to check if a team of robots is biconnected, prove its correctness, and analyze it theoretically.
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,A Method for Building Small-Size Segment-Based Maps, |
Francesco Amigoni,Giulio Fontana,Fabio Garigiola |
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Abstract
Segment-based maps have recently emerged as an effective solution to reduce the dimensions of environment models built by mobile robots. In this paper, we present a novel method for building segment-based maps that contain a small number of line segments. The method works also when data are collected by many robots. Experimental results show that our approach is effective in significantly reducing the size of the resulting maps.
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,Learning when to Auction and when to Bid, |
Dídac Busquets,Reid Simmons |
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Abstract
The market based approach is widely used to solve the problem of multirobot coordination. In this approach, communication and computation costs are key issues, but have not been carefully addressed by the different architectures in the literature. In this paper, we present a method to reduce these costs, by adding the capability to learn whether a task is worth offering up for auction and also whether it is worth bidding for the task, based on previous experience about successful and unsuccessful bids. We show that the method significantly decreases communication and computation costs, while maintaining good overall performance of the team.
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,System Identification of Self-Organizing Robotic Swarms, |
Nikolaus Correll,Alcherio Martinoli |
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Abstract
We discuss system identification of self-organizing, swarm robotic systems using a “gray-box” approach, based on probabilistic macroscopic models. Using a well known case study concerned with the autonomous inspection of a regular structure by a swarm of miniature robots, we show how to achieve highly accurate predictive models by combining previously developed probabilistic modeling and calibration methods, with parameter optimization based on experimental data (80 experiments involving 5–20 real robots)..Key properties of the optimization process are outlined with the help of a simple scenario and a model that can be solved analytically. Concepts are then validated numerically for the more complex, non-linear inspection scenario.
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,Synchronization Control by Structural Modification of Nonlinear Oscillator Network, |
Tetsuro Funato,Daisuke Kurabayashi,Masahito Nara |
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Abstract
The structural features of a system significantly affect the attributes and functions of the system. The effect of this phenomenon can be widely observed, from areas such as the WWW to the brains of animals. In the present paper, a method for controlling the behavior of a system by manipulating the structure is examined using a coupled nonlinear oscillator model. We first describe a property of the eigenfrequencies of coupled oscillators and show that convergent transition is possible by connecting oscillators with significantly different eigenfrequencies. Moreover, using the eigenvalues of a graph matrix, we reveal that a combination of distant oscillators can shift the converged state independent of the eigenfrequencies.
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,Frontier-Graph Exploration for Multi-robot Systems in an Unknown Indoor Environment, |
Mark Gossage,Ai Peng New,Chee Kong Cheng |
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Abstract
We present a new method for single/multiple robot indoor exploration and mapping. The algorithm combines local Frontier-based exploration technique and global graph-based representation of the environment to produce a robust autonomous exploration strategy. This graph is used and shared to allow cooperative exploration. Our implementation is fully decentralised and has no central control to organise the robots, it is also robust to failures both in communications and robot attrition. Our approach has been demonstrated to work on a team of two Pioneer 3AT robots in an area of 50m.. In the simulator it has been successfully scaled to a team of five robots in a map of over a hundred rooms and an area of 5000m..
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,Distributed Robotic: a Language Approach, |
Claude Guéganno,Dominique Duhaut |
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Abstract
In this paper we present a powerful and versatile architecture dedicated for robotic and mechatronic systems. The originalities of our study are, (i) that we consider a robot with a dynamic and explicit language approach and (ii) that the communication aspects are abstracted and take place as a natural part in the language. This approach allows easy transfers towards other fields of research like network of sensors, ambient intelligence and ubiquitous robotic. These works concern low-cost micro-system easy to embed in little mechatronic devices. For demonstration of the effectiveness of our architecture and developing tools, we have implemented it in the maam robot which is a reconfigurable robot composed of several modules autonomous for CPU, energy and motion. Some results can be found in the last part.
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,A Particle Swarm-based Mobile Sensor Network for Odor Source Localization in a Dynamic Environment, |
Wisnu Jatmiko,Kosuke Sekiyama,Toshio Fukuda |
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Abstract
This paper addresses the problem of odor source localization in a dynamic environment, which means the odor distribution is changing over time. Modification Particle Swarm Optimization is a well-known algorithm, which can continuously track a changing optimum over time. PSO can be improved or adapted by incorporating the change detection and responding mechanisms for solving dynamic problems. Charge PSO, which is another extension of the PSO has also been applied to solve dynamic problem. Odor source localization is an interesting application in dynamic problem. We will adopt two types of PSO modification concepts to develop a new algorithm in order to control autonomous vehicles. Before applying the algorithm in a real implementation, some important hardware parameters must be considered. Firstly, to reduce the possibility of robots leaving the search space it is needed to limit the value of vector velocity. The value of vector velocity can be clamped to the range [-V., V.]; in our case for the MK-01 Robot, the maximum velocity is 0.05 m/s. Secondly, in PSO algorithm standard there is no collision avoidance mechanism. To avoid the collision among robot we add some collision avoida
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,Cooperative Multi-robot Target Tracking, |
Boyoon Jung,Gaurav S. Sukhatme |
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Abstract
Target tracking performance can be improved by using multiple robot trackers, but this requires a coordinated motion strategy among the robots. We propose an algorithm based on treating the densities of robots and targets as properties of the environment in which they are embedded. By suitably manipulating these densities a control law for each robot is proposed. The proposed algorithm has been tested through intensive simulations and a realrobot experiment. First, two different versions of the approach were evaluated by studying the performance change as the communication range among robots varies. The results showed that our treatment of the coordination problem is effective and efficient. Second, the developed system was tested on two Segway RMP robots, and the behaviors of the robots in a cooperative tracking experiment provide evidence that the proposed method controls multiple robots appropriately according to the target distribution change.
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,Comparative Study of Market-Based and Threshold-Based Task Allocation, |
Nidhi Kalra,Alcherio Martinoli |
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Abstract
In this paper we compare the costs and benefits of market-based and threshold-based approaches to task allocation in real world conditions, where information and communication may be limited or inaccurate. We have performed extensive comparative experiments in an event-handling domain. Our results indicate that when information is accurate, market-based approaches are more efficient; when it is not, threshold-based approaches offer the same quality of allocation at a fraction of the expense. Additionally, both approaches are robust to low communication and task perception ranges in our experimental domain.
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,Single Operator, Multiple Robots: Call-Request Handling in Tight-Coordination Tasks, |
Gal A. Kaminka,Yehuda Elmaliach |
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Abstract
Many applications of robots require a human operator to supervise and operate multiple robots. In particular, the operator may be required to resolve . when robots require assistance. Previous investigations assume that robots are independent of each other, and allow the operator to resolve one request at a time. However, key challenges and opportunities arise when robots work in tightly-coordinating teams. Robots depend on each other, and thus a single failing robot may cause multiple call requests to be issued (by different robots). Moreover, when the operator switches control to a robot, its teammates must often wait idly until the call request is resolved. We contrast previous approaches with two novel . methods, where the call-request resolution is itself considered a collaborative problem-solving activity, and non-failing robots use their knowledge of the coordination to assist the operator. We empirically compare the different approaches in several scenarios involving tight coordination, where an operator seeks a dead robot in order to assist it. Extensive experiments with 25 human operators show that this new technique is superior to existing methods, in terms of reducing t
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,Distributed Metamorphosis Control of a Modular Robotic System M-TRAN, |
Haruhisa Kurokawa,Kohji Tomita,Akiya Kamimura,Satoshi Murata,Yuzuru Terada,Shigeru Kokaji |
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Abstract
Metamorphosis by a self-reconfigurable modular robot is presented in this report. We have developed a new prototype, “M-TRAN III”, which is improved in its high speed and rigid connection mechanism. Using its integrated design of a multi-CPU controller with various programming tools, experiments of self-reconfiguration were successfully carried out through single master synchronous control. Based on the obtained results, decentralized and locally synchronous control was accomplished, which controlled self-reconfiguration of up to 20 modules using the same program.
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,Preliminary Results in Tracking Mobile Targets Using Range Sensors from Multiple Robots, |
Elizabeth Liao,Geoffrey Hollinger,Joseph Djugash,Sanjiv Singh |
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Abstract
In urban search and rescue scenarios, human first responders risk their lives as they routinely encounter hazardous environments. A team of robots, equipped with various sensors, deployed in such an environment can be used to track emergency personnel such as firefighters, reducing the risk to human life. This paper explores techniques for tracking a mobile target and coordinating a team of robots, equipped with range-only sensors, through smoke-filled, high-temperature environments. The particular strengths of our tracking and cooperative control algorithms are identified through a set of simulated examples.
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,Robotic Swarm Dispersion Using Wireless Intensity Signals, |
Luke Ludwig,Maria Gini |
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Abstract
Dispersing swarms of robots to cover an unknown, potentially hostile area is useful to setup a sensor network for surveillance. Previous research assumes relative locations (distance and bearing) of neighboring robots are available to each robot through sensors. Many robots are too small to carry sensors capable of providing this information. We use wireless signal intensity as a rough approximation of distance to assist a large swarm of small robots in dispersion. Simulation experiments indicate that a swarm can effectively disperse through the use of wireless signal intensities without knowing the relative locations of neighboring robots.
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,Distributed, Play-Based Role Assignment for Robot Teams in Dynamic Environments, |
Colin McMillen,Manuela Veloso |
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Abstract
The design of a coordination strategy for a distributed robotic team is challenging in domains with high uncertainty and dynamic environments. We present a distributed, play-based role assignment algorithm that has been implemented on real robots in the RoboCup four-legged league. The algorithm allows the robots to adapt their strategy based on the current state of the environment, the game, and the behavior of opponents. The distributed play-based approach also enables the robots to reason about task-based temporal constraints and has been designed to be resistant to the problem of role oscillation.
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,Simultaneous Planning, Localization, and Mapping in a Camera Sensor Network, |
David Meger,Ioannis Rekleitis,Gregory Dudek |
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Abstract
In this paper we examine issues of localization, exploration, and planning in the context of a hybrid robot/camera-network system. We exploit the ubiquity of camera networks to use them as a source of localization data. Since the Cartesian position of the cameras in most networks is not known accurately, we consider the issue of how to localize such cameras. To solve this hybrid localization problem, we subdivide it into a local problem of camera-parameter estimation combined with a global planning and navigation problem. We solve the local camera-calibration problem by using fiducial markers embedded in the robot and by selecting robot trajectories in front of each camera that provide good calibration and field-of-view accuracy. We propagate information among the cameras and the successive positions of the robot using an Extended Kalman filter. The paper includes experimental data from an indoor office environment as well as tests on simulated data sets.
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,Adaptive Robotic Communication Using Coordination Costs, |
Avi Rosenfeld,Gal A Kaminka,Sarit Kraus |
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Abstract
Designers of robotic groups are faced with the formidable task of creating effective coordination architectures that can deal with changing environment conditions and hardware failures. Communication between robots is one mechanism that can at times be helpful in such systems, but can also create a time and energy overhead that reduces performance. In dealing with this issue, various communication schemes have been proposed ranging from centralized and localized algorithms, to non-communicative methods. In this paper we argue that using a coordination cost measure can be useful for selecting the appropriate level of communication within such groups. We show that this measure can be used to create adaptive communication methods that switch between various communication schemes. In extensive experiments in the foraging domain, multi-robot teams that used these adaptive methods were able to significantly increase their productivity, compared to teams that used only one type of communication scheme.
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,What to Communicate? Execution-Time Decision in Multi-agent POMDPs, |
Maayan Roth,Reid Simmons,Manuela Veloso |
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Abstract
In recent years, multi-agent Partially Observable Markov Decision Processes (POMDP) have emerged as a popular decision-theoretic framework for modeling and generating policies for the control of multi-agent teams. Teams controlled by multi-agent POMDPs can use communication to share observations and coordinate. Therefore, policies are needed to enable these teams to reason about communication. Previous work on generating communication policies for multi-agent POMDPs has focused on the question of . to communicate. In this paper, we address the question of . to communicate. We describe two paradigms for representing limitations on communication and present an algorithm that enables multi-agent teams to make execution-time decisions on how to effectively utilize available communication resources.
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,A Distributed Multi-robot Cooperation Framework for Real Time Task Achievement, |
Sanem Sariel,Tucker Balch |
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Abstract
In this paper, we propose a general framework, DEMiR-CF, for a multi-robot team to achieve a complex mission including inter-related tasks that require diverse capabilities and/or simultaneous executions. Our framework integrates a distributed task allocation scheme, cooperation mechanisms and precaution routines for multi-robot team execution. Its performance has been demonstrated in NavalMine Countermeasures, Multi-robotMulti-Target Exploration and Object Construction domains. The framework not only ensures near-optimal solutions for task achievement but also efficiently responds to real time contingencies.
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