Download or read book Efficient Cooperative Multirobot Team Search in Complex Indoor Environments written by Monica Delaine Anderson and published by . This book was released on 2007 with total page 260 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book CoopExp Cooperative Multi Robot Exploration written by Rui Miguel Pires Carvalho and published by University of Coimbra. This book was released on 2016-09-01 with total page 82 pages. Available in PDF, EPUB and Kindle. Book excerpt: Over the years the growing influence of robotics in the human domain has been noticeable from industrial to space and medical applications as well as a tool in adverse environments and even in everyday tasks. Many of these applications require the use of a team of several cooperating mobile robots - Cooperative Multi-Robot System (CMRS) - to make the execution of certain tasks possible and to improve the performance achieved by only one robot.Although the cooperation capacity is innate to humans, the robotic domain features a number of new challenges: communication, timing of the information obtained and the merger of that information.When cooperation among multiple robots is applied in an exploration context challenges increase. It is essential to take the costs and utility of that exploration into account.This dissertation aims to present a solution to the aforementioned problem. Therefore, a method has been developed, capable of assigning to different robots a cooperative behavior in order to explore an environment, following a philosophy of "divide and conquer".The CoopExp, package with the operation algorithm, was developed according to a distributed approach in order to increase resistance to individual failures of the exploration agents. Accordingly, a method that is able to calculate the costs involved in a faster and more efficient way, was created. Furthermore, an approach to exploration utility was also established, based on a compendium of techniques described in the literature.The development of such programs would have practically been impossible without performing tests on its functioning. In the absence of a simulator for this type of operation, the ARENA (cooperAtive multi Robot frontiEr exploratioN simulAtor) was developed. It consists of a set of new packages specifically designed for frontier identification (aap_frontiers) and to optimize the simulation, through simplifications in the process ofachieving the maps (aap_mapping) and their subsequent combination, yielding the global map (aap_map_merger).Such solutions were validated through simulation tests, using mobile units equipped with a LRF (Laser Range Finder). These tests showed that exploration time decreases when the number of robots is increased, presenting a proper performance in terms of scalability and efficiency in exploration. Last but not least, a exploration with a real team of robots was successfully carried out that was able to communicate through a wireless network in order to validate the practical functioning of this project

Download or read book An Auction based Approach to Complex Task Allocation for Multirobot Teams written by Robert Michael Zlot and published by . This book was released on 2006 with total page 179 pages. Available in PDF, EPUB and Kindle. Book excerpt: Explicitly reasoning about complex tasks presents a tradeoff between solution efficiency and computation time. We analyze that tradeoff for task tree auctions and further introduce a method for dramatically reducing the bidding time without significantly affecting solution quality.

Download or read book Distributed Autonomous Robotic Systems 2 written by Hajime Asama and published by Springer Science & Business Media. This book was released on 2013-06-29 with total page 436 pages. Available in PDF, EPUB and Kindle. Book excerpt: Great interest is now focused on distributed autonomous robotic systems (DARS) as a new strategy for the realization of flexible, robust, and intelligent robots. Inspired by autonomous, decentralized, and self-organizing biological systems, the field of DARS encompasses broad interdisciplinary technologies related not only to robotics and computer engineering but also to biology and psychology. The rapidly growing interest in this new area of research was manifest in the first volume of Distributed Autonomous Robotic Systems, published in 1994. This second volume in the series presents the most recent work by eminent researchers and includes such topics as multirobot control, distributed robotic systems design, self-organizing systems, and sensing and navigation for cooperative robots. Distributed Autonomous Robotic Systems 2 is a valuable source for those whose work involves robotics and will be of great interest to those in the fields of artificial intelligence, self-organizing systems, artificial life, and computer science.

Download or read book Intelligent Multi robot Cooperation for Target Searching and Foraging Tasks in Completely Unknown Environments written by Yifan Cai and published by . This book was released on 2013 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Multi-robot cooperation can significantly improve work efficiency and provide with better robustness and adaptability than a single robot. This thesis focuses on the effective cooperation strategy for multi-robot systems. Target searching in completely unknown environments is a challenging topic in multi-robot exploration. The multi-robot system has no information about the environments except the total number of targets, and a target searching task is accomplished when all the targets are detected and reached. Autonomous exploration is required to complete the task. In this thesis, a combined Option and MAXQ hierarchical reinforcement learning algorithm is firstly developed to provide with the learning ability to handle tasks in new unknown environments. Though it can work in some situations, the indispensable learning process prevents it from efficiently dealing with dynamic tasks in unknown environments. As a consequence, a potential field-based particle swarm optimization (PPSO) approach to target searching is presented. A novel potential field-based fitness function is developed for the PSO algorithm structure to provide with the exploration priority evaluation for undetected areas. The potential function is based on some designed cooperation rules. Furthermore, an improved PPSO approach with dynamic parameter tuning is developed to handle tasks in complex environments. As extensions, cooperative foraging tasks are investigated, and fuzzy obstacle avoidance is integrated to improve the smoothness of the robot path. The scheme is tested under various scenarios to validate the flexibility and effectiveness. In simulation studies, scenarios with obstacles and uncertainties are considered to demonstrate the robustness and adaptability.

Download or read book Cooperative Navigation for Teams of Mobile Robots written by Mike Peasgood and published by . This book was released on 2007 with total page 143 pages. Available in PDF, EPUB and Kindle. Book excerpt: Teams of mobile robots have numerous applications, such as space exploration, underground mining, warehousing, and building security. Multi-robot teams can provide a number of practical benefits in such applications, including simultaneous presence in multiple locations, improved system performance, and greater robustness and redundancy compared to individual robots. This thesis addresses three aspects of coordination and navigation for teams of mobile robots: localization, the estimation of the position of each robot in the environment; motion planning, the process of finding collision-free trajectories through the environment; and task allocation, the selection of appropriate goals to be assigned to each robot. Each of these topics are investigated in the context of many robots working in a common environment.

Download or read book Robotic Systems Concepts Methodologies Tools and Applications written by Management Association, Information Resources and published by IGI Global. This book was released on 2020-01-03 with total page 2075 pages. Available in PDF, EPUB and Kindle. Book excerpt: Through expanded intelligence, the use of robotics has fundamentally transformed a variety of fields, including manufacturing, aerospace, medicine, social services, and agriculture. Continued research on robotic design is critical to solving various dynamic obstacles individuals, enterprises, and humanity at large face on a daily basis. Robotic Systems: Concepts, Methodologies, Tools, and Applications is a vital reference source that delves into the current issues, methodologies, and trends relating to advanced robotic technology in the modern world. Highlighting a range of topics such as mechatronics, cybernetics, and human-computer interaction, this multi-volume book is ideally designed for robotics engineers, mechanical engineers, robotics technicians, operators, software engineers, designers, programmers, industry professionals, researchers, students, academicians, and computer practitioners seeking current research on developing innovative ideas for intelligent and autonomous robotics systems.

Download or read book Semi autonomous Control of Multi robot Teams in Urban Search and Rescue Applications written by Yugang Liu and published by . This book was released on 2019 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Urban search and rescue (USAR) has been a significant application in robotics because the deployment of rescue robots in these life-risking tasks can help reduce the personal risks of human rescue workers and increase the speed of emergency response. Furthermore, the incorporation of multi-robot rescue teams consisting of a group of heterogeneous rescue robots is advantageous since it allows shorter robot deployment times, provides situational awareness from multiple locations, and introduces redundancy and fault-tolerance to this time-critical mission. While promising, the control of multi-robot rescue teams is a challenging task. In particular, decisions need to be made regarding which rescue tasks should be executed and by which robot in a specific scenario. This thesis focuses on the development of semi-autonomous control architectures for multi-robot USAR teams in order to address the challenges in human-robot coordination and multi-robot cooperation in USAR applications. A learning-based semi-autonomous control architecture is developed for multi-robot teams in USAR environments, allowing a team of rescue robots to learn and make decisions regarding which rescue tasks need to be carried out at a given time. The task sharing between rescue robots and human operators can reduce the stress and mental workload of the operators, while allowing rescue robots to benefit from a human operator's experience and knowledge. Furthermore, the cooperation between different rescue robots enables fast exploration of cluttered USAR scenes by minimizing overlap or repeated revisits of an explored area, as well as improve the reliability of the overall search and rescue mission. This thesis further addresses the high-level task allocation challenge for a large heterogeneous multi-robot team. A hierarchical supervisory control architecture is proposed allowing effective task sharing amongst the multi-robot team based on the dimension, mobility and sensing capabilities of individual robots. The developed approach can also handle the changes to team size due to robot failures and the need for robot repair during a USAR mission. The developed multi-robot task allocation approach allows a single operator to control a large team of heterogeneous rescue robots in USAR applications. Simulations and experiments in simulated USAR environments verified the performance of the proposed supervisory controller.

Download or read book Dissertation Abstracts International written by and published by . This book was released on 2008 with total page 980 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Cooperative Robots and Sensor Networks 2015 written by Anis Koubâa and published by Springer. This book was released on 2015-05-18 with total page 274 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book compiles some of the latest research in cooperation between robots and sensor networks. Structured in twelve chapters, this book addresses fundamental, theoretical, implementation and experimentation issues. The chapters are organized into four parts namely multi-robots systems, data fusion and localization, security and dependability, and mobility.

Download or read book Distributed Autonomous Robotic Systems written by Hajime Asama and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 392 pages. Available in PDF, EPUB and Kindle. Book excerpt: As a new strategy to realize the goal of flexible, robust, fault-tolerant robotic systems, the distributed autonomous approach has quickly established itself as one of the fastest growing fields in robotics. This book is one of the first to devote itself solely to this exciting area of research, covering such topics as self-organization, communication and coordination, multi-robot manipulation and control, distributed system design, distributed sensing, intelligent manufacturing systems, and group behavior. The fundamental technologies and system architectures of distributed autonomous robotic systems are expounded in detail, along with the latest research findings. This book should prove indispensable not only to those involved with robotic engineering but also to those in the fields of artificial intelligence, self-organizing systems, and coordinated control.

Download or read book Cooperative Localization and Navigation written by Chao Gao and published by CRC Press. This book was released on 2019-08-21 with total page 636 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book captures the latest results and techniques for cooperative localization and navigation drawn from a broad array of disciplines. It provides the reader with a generic and comprehensive view of modeling, strategies, and state estimation methodologies in that fields. It discusses the most recent research and novel advances in that direction, exploring the design of algorithms and architectures, benefits, and challenging aspects, as well as a potential broad array of disciplines, including wireless communication, indoor localization, robotics, emergency rescue, motion analysis, etc.

Download or read book Multi Robot Systems From Swarms to Intelligent Automata Volume II written by Alan C. Schultz and published by Springer. This book was released on 2010-12-08 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This Proceedings Volume documents recent cutting-edge developments in multi-robot systems research and is the result of the Second International Workshop on Multi-Robot Systems that was held in March 2003 at the Naval Research Laboratory in Washington, D.C. This Workshop brought together top researchers working in areas relevant to designing teams of autonomous vehicles, including robots and unmanned ground, air, surface, and undersea vehicles. The workshop focused on the challenging issues of team architectures, vehicle learning and adaptation, heterogeneous group control and cooperation, task selection, dynamic autonomy, mixed initiative, and human and robot team interaction. A broad range of applications of this technology are presented in this volume, including UCAVS (Unmanned Combat Air Vehicles), micro-air vehicles, UUVs (Unmanned Underwater Vehicles), UGVs (Unmanned Ground Vehicles), planetary exploration, assembly in space, clean-up, and urban search and rescue. This Proceedings Volume represents the contributions of the top researchers in this field and serves as a valuable tool for professionals in this interdisciplinary field.

Download or read book Distributed Autonomous Robotic Systems written by Nikolaus Correll and published by Springer. This book was released on 2019-01-29 with total page 528 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume of the SPAR series brings the proceedings of the fourteen edition of the DARS symposium on Distributed Autonomous Robotic Systems, whose proceedings have been published within SPAR since the past edition. This symposium took place in Boulder, CO from October 15th to 17th, 2018. The volume edited by Nikolaus Correll and Mac Schwager contains 36 scientific contributions cutting across planning, control, design, perception, networking, and optimization, all united through the common thread of distributed robotic systems.

Download or read book Search and Rescue Robotics written by Multiple Authors and published by BoD – Books on Demand. This book was released on 2017-08-23 with total page 264 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the event of large crises (earthquakes, typhoons, floods, ...), a primordial task of the fire and rescue services is the search for human survivors on the incident site. This is a complex and dangerous task, which - too often - leads to loss of lives among the human crisis managers themselves. This book explains how unmanned search can be added to the toolkit of the search and rescue workers, offering a valuable tool to save human lives and to speed up the search and rescue process. The introduction of robotic tools in the world of search and rescue is not straightforward, due to the fact that the search and rescue context is extremely technology-unfriendly, meaning that very robust solutions, which can be deployed extremely quickly, are required. Multiple research projects across the world are tackling this problem and in this book, a special focus is placed on showcasing the results of the European Union ICARUS project on this subject. The ICARUS project proposes to equip first responders with a comprehensive and integrated set of unmanned search and rescue tools, to increase the situational awareness of human crisis managers, so that more work can be done in a shorter amount of time. The ICARUS tools consist of assistive unmanned air, ground, and sea vehicles, equipped with victim-detection sensors. The unmanned vehicles collaborate as a coordinated team, communicating via ad hoc cognitive radio networking. To ensure optimal human-robot collaboration, these tools are seamlessly integrated into the command and control equipment of the human crisis managers and a set of training and support tools is provided to them in order to learn to use the ICARUS system. The research leading to these results has received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement number 285417. The publishing of this book was funded by the EC FP7 Post-Grant Open Access Pilot programme.

Download or read book Rapid Automation Concepts Methodologies Tools and Applications written by Management Association, Information Resources and published by IGI Global. This book was released on 2019-03-01 with total page 1566 pages. Available in PDF, EPUB and Kindle. Book excerpt: Through expanded intelligence, the use of robotics has fundamentally transformed the business industry. Providing successful techniques in robotic design allows for increased autonomous mobility, which leads to a greater productivity and production level. Rapid Automation: Concepts, Methodologies, Tools, and Applications provides innovative insights into the state-of-the-art technologies in the design and development of robotics and their real-world applications in business processes. Highlighting a range of topics such as workflow automation tools, human-computer interaction, and swarm robotics, this multi-volume book is ideally designed for computer engineers, business managers, robotic developers, business and IT professionals, academicians, and researchers.

Download or read book Formation Control written by Hyo-Sung Ahn and published by Springer. This book was released on 2019-03-29 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph introduces recent developments in formation control of distributed-agent systems. Eschewing the traditional concern with the dynamic characteristics of individual agents, the book proposes a treatment that studies the formation control problem in terms of interactions among agents including factors such as sensing topology, communication and actuation topologies, and computations. Keeping pace with recent technological advancements in control, communications, sensing and computation that have begun to bring the applications of distributed-systems theory out of the industrial sphere and into that of day-to-day life, this monograph provides distributed control algorithms for a group of agents that may behave together. Unlike traditional control laws that usually require measurements with respect to a global coordinate frame and communications between a centralized operation center and agents, this book provides control laws that require only relative measurements and communications between agents without interaction with a centralized operator. Since the control algorithms presented in this book do not require any global sensing and any information exchanges with a centralized operation center, they can be realized in a fully distributed way, which significantly reduces the operation and implementation costs of a group of agents. Formation Control will give both students and researchers interested in pursuing this field a good grounding on which to base their work.