Download or read book Distributed Coordination Theory for Robot Teams written by Ashton Roza and published by Springer Nature. This book was released on 2022-05-15 with total page 153 pages. Available in PDF, EPUB and Kindle. Book excerpt: Distributed Coordination Theory for Robot Teams develops control algorithms to coordinate the motion of autonomous teams of robots in order to achieve some desired collective goal. It provides novel solutions to foundational coordination problems, including distributed algorithms to make quadrotor helicopters rendezvous and to make ground vehicles move in formation along circles or straight lines. The majority of the algorithms presented in this book can be implemented using on-board cameras. The book begins with an introduction to coordination problems, such as rendezvous of flying robots, and modelling. It then provides a solid theoretical background in basic stability, graph theory and control primitives. The book discusses the algorithmic solutions for numerous distributed control problems, focusing primarily on flying robotics and kinematic unicycles. Finally, the book looks to the future, and suggests areas discussed which could be pursued in further research. This book will provide practitioners, researchers and students in the field of control and robotics new insights in distributed multi-agent systems.
Download or read book Distributed Coordination Theory for Ground and Aerial Robot Teams written by Ashton Roza and published by . This book was released on 2019 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis investigates distributed coordination problems for two important classes of robots. One class corresponds to ground-based mobile robots, each modelled as a kinematic unicycle. The second corresponds to flying robots, each propelled by a thrust vector and endowed with an actuation mechanism producing torques about three orthogonal body axes. The following coordination problems are studied in this thesis: rendezvous, formation control, linear and circular formation flocking and formation path following. For rendezvous of kinematic unicycles, a smooth, time-independent control law is presented that drives the unicycles to a common position from arbitrary initial conditions, under the assumption that the sensing digraph is time-invariant and contains a globally reachable node. The proposed feedback is very simple and is local and distributed. For rendezvous of flying robots, a control strategy is presented that makes the centres of mass of the vehicles converge to an arbitrarily small neighborhood of one another. The convergence is global, and each vehicle can compute its own control input using local and distributed feedback. For formation control, the objective is to make an ensemble of kinematic unicycles achieve pre-defined inter-agent spacings with parallel heading angles. We consider scenarios where the formation either stops or moves with a final collective motion. In the latter case, problems of linear and circular formation flocking and formation path following are studied. A control law is presented in each case that solves the problem for almost all initial conditions. For stopping and flocking formations, the proposed control laws are local and distributed while for formation path following, the control laws additionally require each agent to measure its displacement from the path. The idea used to solve the formation control problems is to rigidly attach an offset vector to the body frame of each unicycle. It is shown that stabilizing the desired formation amounts to achieving consensus of the endpoints of the offset vectors, and simultaneously synchronizing the unicycles' heading angles. Extension of formation control to flying robots using strictly local and distributed feedback is not addressed in this work and remains a challenging open problem.
Download or read book Distributed Autonomous Robotic Systems written by M. Ani Hsieh and published by Springer. This book was released on 2014-06-07 with total page 452 pages. Available in PDF, EPUB and Kindle. Book excerpt: Distributed robotics is a rapidly growing and maturing interdisciplinary research area lying at the intersection of computer science, network science, control theory, and electrical and mechanical engineering. The goal of the Symposium on Distributed Autonomous Robotic Systems (DARS) is to exchange and stimulate research ideas to realize advanced distributed robotic systems. This volume of proceedings includes 31 original contributions presented at the 2012 International Symposium on Distributed Autonomous Robotic Systems (DARS 2012) held in November 2012 at the Johns Hopkins University in Baltimore, MD USA. The selected papers in this volume are authored by leading researchers from Asia, Europa, and the Americas, thereby providing a broad coverage and perspective of the state-of-the-art technologies, algorithms, system architectures, and applications in distributed robotic systems. The book is organized into five parts, representative of critical long-term and emerging research thrusts in the multi-robot community: Coordination for Perception, Coverage, and Tracking; Task Allocation and Coordination Strategies; Modular Robots and Novel Mechanisms and Sensors; Formation Control and Planning for Robot Teams; and Learning, Adaptation, and Cognition for Robot Teams.
Download or read book Distributed Coordination for Teams of Robots written by Joseph William Durham and published by . This book was released on 2011 with total page 144 pages. Available in PDF, EPUB and Kindle. Book excerpt: Our second application is a visibility-based pursuit-evasion problem in which a team of mobile robots with limited sensing and communication capabilities must coordinate to detect any evaders in an unknown, multiply-connected planar environment. Our distributed algorithm to guarantee evader detection is built around maintaining complete coverage of the frontier between cleared and contaminated regions while expanding the cleared region. We detail a novel distributed method for storing and updating this frontier without building a global map or requiring global localization.
Download or read book Robot Teams written by Tucker Balch and published by CRC Press. This book was released on 2002-04-17 with total page 425 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is a comprehensive volume on robot teams that will be the standard reference on multi-robot systems. The volume provides not only the essentials of multi-agent robotics theory but also descriptions of exemplary implemented systems demonstrating the key concepts of multi-robot research. Information is presented in a descriptive manner and augme
Download or read book Distributed Control of Robotic Networks written by Francesco Bullo and published by Princeton University Press. This book was released on 2009-07-06 with total page 320 pages. Available in PDF, EPUB and Kindle. Book excerpt: This self-contained introduction to the distributed control of robotic networks offers a distinctive blend of computer science and control theory. The book presents a broad set of tools for understanding coordination algorithms, determining their correctness, and assessing their complexity; and it analyzes various cooperative strategies for tasks such as consensus, rendezvous, connectivity maintenance, deployment, and boundary estimation. The unifying theme is a formal model for robotic networks that explicitly incorporates their communication, sensing, control, and processing capabilities--a model that in turn leads to a common formal language to describe and analyze coordination algorithms. Written for first- and second-year graduate students in control and robotics, the book will also be useful to researchers in control theory, robotics, distributed algorithms, and automata theory. The book provides explanations of the basic concepts and main results, as well as numerous examples and exercises. Self-contained exposition of graph-theoretic concepts, distributed algorithms, and complexity measures for processor networks with fixed interconnection topology and for robotic networks with position-dependent interconnection topology Detailed treatment of averaging and consensus algorithms interpreted as linear iterations on synchronous networks Introduction of geometric notions such as partitions, proximity graphs, and multicenter functions Detailed treatment of motion coordination algorithms for deployment, rendezvous, connectivity maintenance, and boundary estimation
Download or read book Software Programming and Run Time Coordination for Distributed Robotics written by and published by . This book was released on 2003 with total page 8 pages. Available in PDF, EPUB and Kindle. Book excerpt: Our project created and disseminated new technologies for coordinating the behavior of large numbers of form factor constrained mobile robots. Simulations and robotic experiments were created to demonstrate coordination constraints expressed in a controlled theoretic framework in a manner that guarantees performance (time, energy, and comm bandwidth), scales to hundreds of individuals, and supports optimization via reinforcement learning to acquire distributed control policies. We have implemented 10 "uBots" to realize our SDR concept on which we have demonstrated adaptive impedance control, multi-robot coordination and dynamic role assignment, a real-time process scheduler, and wearable interfaces. Applications, including: search and mapping; leader-follower control; and multi-robot behavior for preserving network connectivity among coordinated peers. Performance bounds on an n-robot teams using network-distributed interfaces have been demonstrated as well. Twelve students are involved in our SDR project. We ported control code for autonomous grasping and manipulation gaits for robot hands to our colleagues at NASA-JSC for use in the Robonaut program and our simulation for multi-robot search controllers that maintain line of sight was transferred to colleagues at SPAWAR.
Download or read book Handbook of Research on Design Control and Modeling of Swarm Robotics written by Tan, Ying and published by IGI Global. This book was released on 2015-12-09 with total page 889 pages. Available in PDF, EPUB and Kindle. Book excerpt: Studies on robotics applications have grown substantially in recent years, with swarm robotics being a relatively new area of research. Inspired by studies in swarm intelligence and robotics, swarm robotics facilitates interactions between robots as well as their interactions with the environment. The Handbook of Research on Design, Control, and Modeling of Swarm Robotics is a collection of the most important research achievements in swarm robotics thus far, covering the growing areas of design, control, and modeling of swarm robotics. This handbook serves as an essential resource for researchers, engineers, graduates, and senior undergraduates with interests in swarm robotics and its applications.
Download or read book Distributed Autonomous Robotic Systems written by Alcherio Martinoli and published by Springer. This book was released on 2012-09-05 with total page 615 pages. Available in PDF, EPUB and Kindle. Book excerpt: Distributed robotics is a rapidly growing, interdisciplinary research area lying at the intersection of computer science, communication and control systems, and electrical and mechanical engineering. The goal of the Symposium on Distributed Autonomous Robotic Systems (DARS) is to exchange and stimulate research ideas to realize advanced distributed robotic systems. This volume of proceedings includes 43 original contributions presented at the Tenth International Symposium on Distributed Autonomous Robotic Systems (DARS 2010), which was held in November 2010 at the École Polytechnique Fédérale de Lausanne (EPFL), Switzerland. The selected papers in this volume are authored by leading researchers from Asia, Europa, and the Americas, thereby providing a broad coverage and perspective of the state-of-the-art technologies, algorithms, system architectures, and applications in distributed robotic systems. The book is organized into four parts, each representing one critical and long-term research thrust in the multi-robot community: distributed sensing (Part I); localization, navigation, and formations (Part II); coordination algorithms and formal methods (Part III); modularity, distributed manipulation, and platforms (Part IV).
Download or read book Distributed Computing by Oblivious Mobile Robots written by Paola Flocchini and published by Springer Nature. This book was released on 2022-06-01 with total page 179 pages. Available in PDF, EPUB and Kindle. Book excerpt: The study of what can be computed by a team of autonomous mobile robots, originally started in robotics and AI, has become increasingly popular in theoretical computer science (especially in distributed computing), where it is now an integral part of the investigations on computability by mobile entities. The robots are identical computational entities located and able to move in a spatial universe; they operate without explicit communication and are usually unable to remember the past; they are extremely simple, with limited resources, and individually quite weak. However, collectively the robots are capable of performing complex tasks, and form a system with desirable fault-tolerant and self-stabilizing properties. The research has been concerned with the computational aspects of such systems. In particular, the focus has been on the minimal capabilities that the robots should have in order to solve a problem. This book focuses on the recent algorithmic results in the field of distributed computing by oblivious mobile robots (unable to remember the past). After introducing the computational model with its nuances, we focus on basic coordination problems: pattern formation, gathering, scattering, leader election, as well as on dynamic tasks such as flocking. For each of these problems, we provide a snapshot of the state of the art, reviewing the existing algorithmic results. In doing so, we outline solution techniques, and we analyze the impact of the different assumptions on the robots' computability power. Table of Contents: Introduction / Computational Models / Gathering and Convergence / Pattern Formation / Scatterings and Coverings / Flocking / Other Directions
Download or read book Intelligent Data Analysis for Real Life Applications Theory and Practice written by Magdalena-Benedito, Rafael and published by IGI Global. This book was released on 2012-06-30 with total page 444 pages. Available in PDF, EPUB and Kindle. Book excerpt: With the recent and enormous increase in the amount of available data sets of all kinds, applying effective and efficient techniques for analyzing and extracting information from that data has become a crucial task. Intelligent Data Analysis for Real-Life Applications: Theory and Practice investigates the application of Intelligent Data Analysis (IDA) to these data sets through the design and development of algorithms and techniques to extract knowledge from databases. This pivotal reference explores practical applications of IDA, and it is essential for academic and research libraries as well as students, researchers, and educators in data analysis, application development, and database management.
Download or read book Distributed Autonomous Robotic Systems written by Nak-Young Chong and published by Springer. This book was released on 2016-01-14 with total page 475 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume of proceedings includes 32 original contributions presented at the 12th International Symposium on Distributed Autonomous Robotic Systems (DARS 2014), held in November 2014. The selected papers in this volume are authored by leading researchers from Asia, Australia, Europe, and the Americas, thereby providing a broad coverage and perspective of the state-of-the-art technologies, algorithms, system architectures, and applications in distributed robotic systems.
Download or read book Human Performance in Automated and Autonomous Systems Two Volume Set written by Mustapha Mouloua and published by CRC Press. This book was released on 2019-12-17 with total page 630 pages. Available in PDF, EPUB and Kindle. Book excerpt: This two-volume set addresses a variety of human factors issues and engineering concerns across various real-world applications such as aviation and driving, cybersecurity, and healthcare systems. The contents of these books also present recent theories and methods related to human performance, workload and usability assessment in automated and autonomous systems. In this set, the authors discuss both current and developing topics of advanced automation technologies and present emerging practical challenges. Topics covered include unmanned aerial systems and self-driving cars, individual and team performance, human-robot interaction, and operator selection and training. Both practical and theoretical discussions of modern automated and autonomous systems are provided throughout each of the volumes. These books are suitable for those first approaching the issues to those well versed in these fast-moving areas, including students, teachers, researchers, engineers, and policy makers alike. Volume 1 - Human Performance in Automated and Autonomous Systems: Current Theory and Methods Volume 2 - Human Performance in Automated and Autonomous Systems: Emerging Issues and Practical Perspectives
Download or read book Human Behavior Understanding in Networked Sensing written by Paolo Spagnolo and published by Springer. This book was released on 2014-11-06 with total page 463 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a broad overview of both the technical challenges in sensor network development, and the real-world applications of distributed sensing. Important aspects of distributed computing in large-scale networked sensor systems are analyzed in the context of human behavior understanding, including topics on systems design tools and techniques. Additionally, the book examines a varied range of applications. Features: contains valuable contributions from an international selection of leading experts in the field; presents a high-level introduction to the aims and motivations underpinning distributed sensing; describes decision-making algorithms in the presence of complex sensor networks; provides a detailed analysis of the design, implementation, and development of a distributed network of homogeneous or heterogeneous sensors; reviews the application of distributed sensing to human behavior understanding and autonomous intelligent vehicles; includes a helpful glossary and a list of acronyms.
Download or read book Theories of Team Cognition written by Eduardo Salas and published by Routledge. This book was released on 2013-06-17 with total page 665 pages. Available in PDF, EPUB and Kindle. Book excerpt: Cognitive processes in teams have been a valuable arena for team researchers to explore. Team cognition research advances and informs a variety of disciplines, including cognitive and social sciences, engineering, military science, organizational science, human factors, medicine, and communications. There has been a great deal of progress in the team cognition literature, yet the field is still in its early stages of maturity. There is much more to be gained from the field’s insights and there is a need to unite the diverse array of scholarly ideas that permeate the field. This movement will serve to organize the research and ideas that have surfaced in the field, thereby making them more accessible to different disciplines while at the same time, motivating continued progress in the field. This book aims to be a step in this direction and acts as a forum for leading scholars to share their ideas, theories, models, and conceptions about what matters and where more attention is needed in the field of team cognition.
Download or read book Hybrid Artificial Intelligence Systems written by Emilio Corchado and published by Springer Science & Business Media. This book was released on 2008-09-10 with total page 785 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume constitutes the proceedings of the Third International Workshop on Hybrid Artificial Intelligence Systems, HAIS 2008, held in Burgos, Spain, during September 24-26, 2008. The 93 papers presented, together with 4 invited talks, were carefully reviewed and selected from 280 submissions. The topics covered are agents and multi-agent systems; evolutionary computation; connectionist models; optimization sysetms; fuzzy logic systems; classification and classifiers; cluster analysis; video and image analysis; learning systems, algorithms and applications; hybrid systems based on negotiation and social network modelling; real world applications of HAIS under uncertainty; hybrid intelligent systems for multi-robot and multi-agent systems; applications of hybrid artificial intelligence in bioinformatics; and novel approaches to genetic fuzzy systems.
Download or read book Algorithms for Sensor Systems written by Paola Flocchini and published by Springer. This book was released on 2013-12-12 with total page 316 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the proceedings of the 9th International Symposium on Algorithms for Sensor Systems, Wireless Ad Hoc Networks and Autonomous Mobile Entities, ALGOSENSORS 2013, held in Sophia Antipolis, France, in September 2013. The 19 papers presented in this volume were carefully reviewed and selected from 30 submissions. They deal with sensor network algorithms, wireless networks and distributed robotics algorithms; and experimental algorithms.
