Download or read book A Mobile Agent based Framework for Automatic Coordination of Autonomous Multi robot Systems written by Binsen Qian and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Robots can protect humans from risk in many applications, such as search and rescue, outer-space exploration, and toxic cleanup. Multi-robot systems have a huge potential to benefit versatile applications through reconfiguring heterogeneous or homogeneous robots in different ways. This includes combining different capabilities for heterogeneous systems and forming different physical configurations for homogeneous systems. Additionally, multi-robot systems can reduce overall time consumption by pursuing goals by parallel execution. For example, for those applications that contain spatially separate tasks, multiple robot groups can work in different locations simultaneously and therefore improve the performance in terms of time. More importantly, due to the multiple agents and data sharing, the entire system is more fault-tolerance. While having these advantages, it also raises numerous software design challenges, such as communication, task assignment, and resource conflicts. Ideally, a cooperation framework needs to be robust, adaptable, efficient, and flexible to an extent. This research thesis presents the design and implementation of RoboCoop, a mobile agent-based framework for automatic coordination of multi-robot systems. RoboCoop consists of several modules, such as knowledge base, Input/Output, task procession/execution, and sensor reading. The agent-based framework utilizes the innate advantages of the multi-threading of each agent, such that each module can run persistently without blocking others. Modules can exchange information and data through inter-agent communication based on the standards of the Foundation for Intelligent Physical Agents (FIPA). The presented framework allows robots to coordinate, manage, and execute tasks automatically. Also, a backup mechanism is developed to ensure the robustness of robot systems. Moreover, it allows customized algorithms and strategies for task allocation and execution. Three case studies have been completed with three different robots, Linkbot, CPSBot, and Lego Mindstorms NXT/EV3, to demonstrate the potentials of the framework. In the box pushing application, there are over-sized boxes that require two robots pushing simultaneously to make it move straight, which demonstrates the ability of synchronization of RoboCoop. Then the field mapping application illustrates how robots can work in parallel to reduce completion time for missions that can be split into subsets. Finally, the robot soccer not only shows the use of sensor fusion in robot localization but also illustrates the cooperation of two teammates to complete a free-kick.

Download or read book Modelling and Controlling of Behaviour for Autonomous Mobile Robots written by Hendrik Skubch and published by Springer Science & Business Media. This book was released on 2012-11-27 with total page 264 pages. Available in PDF, EPUB and Kindle. Book excerpt: As research progresses, it enables multi-robot systems to be used in more and more complex and dynamic scenarios. Hence, the question arises how different modelling and reasoning paradigms can be utilised to describe the intended behaviour of a team and execute it in a robust and adaptive manner. Hendrik Skubch presents a solution, ALICA (A Language for Interactive Cooperative Agents) which combines modelling techniques drawn from different paradigms in an integrative fashion. Hierarchies of finite state machines are used to structure the behaviour of the team such that temporal and causal relationships can be expressed. Utility functions weigh different options against each other and assign agents to different tasks. Finally, non-linear constraint satisfaction and optimisation problems are integrated, allowing for complex cooperative behaviour to be specified in a concise, theoretically well-founded manner.

Download or read book Automatic Coordination and Deployment of Multi robot Systems written by Brian Stephen Smith and published by . This book was released on 2009 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: We present automatic tools for configuring and deploying multi-robot networks of decentralized, mobile robots. These methods are tailored to the decentralized nature of the multi-robot network and the limited information available to each robot. We present methods for determining if user-defined network tasks are feasible or infeasible for the network, considering the limited range of its sensors. To this end, we define rigid and persistent feasibility and present necessary and sufficient conditions (along with corresponding algorithms) for determining the feasibility of arbitrary, user-defined deployments. Control laws for moving multi-robot networks in acyclic, persistent formations are defined. We also present novel Embedded Graph Grammar Systems (EGGs) for coordinating and deploying the network. These methods exploit graph representations of the network, as well as graph-based rules that dictate how robots coordinate their control. Automatic systems are defined that allow the robots to assemble arbitrary, user-defined formations without any reliance on localization. Further, this system is augmented to deploy these formations at the user-defined, global location in the environment, despite limited localization of the network. The culmination of this research is an intuitive software program with a Graphical User Interface (GUI) and a satellite image map which allows users to enter the desired locations of sensors. The automatic tools presented here automatically configure an actual multi-robot network to deploy and execute user-defined network tasks.

Download or read book A Persistent Decentralized Massively Scalable Mobile agent Based Evolutionary Algorithm for Optimizing Robotic Gaits written by David Ko and published by . This book was released on 2014 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Multi-robot and modular robotic systems present a novel robotics paradigm: They can accomplish a wide variety of tasks using different physical configurations and control laws; they can be cheaper than traditional robotics because identical modules can be mass produced; they form fault-tolerant systems because malfunctioning modules can easily be swapped out; and their available computing power continues to increase exponentially. These factors can make autonomous modular robots ideal for usage in remote areas where a single set of robots might have to perform a variety of impromptu tasks. For instance, these robotic systems might be used for search-and-rescue, or deep-sea and space exploration missions. Creating control laws for a cluster of modular robots with an arbitrary morphology presents an interesting challenge. Ideally, the robot morphologies and control laws for arbitrary morphologies should be generated dynamically by the robotic systems themselves for cases where human input is minimal or nonexistent. Among these controls is the locomotion of these modular robots, or robotic gaits. A Persistent Distributed Agent-Based Genetic Algorithm (PDABGA) has been designed and tested towards the goal of dynamically generating robotic gaits for a cluster of modular robots in the course of this research. PDABGA is based on an agency framework called Mobile-C, an IEEE Foundation for Intelligent Physical Agents standards compliant mobile agent framework. PDABGA leverages innate features of the mobile agent framework, such as persistence, computational distribution, and robustness. To generate optimal gaits for arbitrary robot morphologies, PDABGA augments agents with the core principles of the Genetic Algorithm: sexual reproduction among a population of candidate solutions. The system has been validated to show that it can leverage multiple cooperating computing nodes to generate high quality results.

Download or read book Coordination of Mobile Multi robot Systems written by Philipp Hümmer and published by . This book was released on 2011 with total page 210 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book A Mixed initiative Framework for Multi agent Human robot Teams written by John Alexander Duncan and published by . This book was released on 2020 with total page 310 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robots and autonomous systems are expanding into more complex, dynamic, and human-centered operating domains. In such domains, neither full autonomy nor full human control are ideal and the appropriate level of autonomy is contextually-dependent. Mixed-initiative systems enable flexible autonomy, making them ideal for complex operating environments. However, most mixed-initiative research does not consider multi-agent human-robot systems, and a multi-agent mixed-initiative robot control framework is not readily available. This project explores the requirements for a mixed-initiative human-robot control framework and proposes an initial design. The mixed-initiative framework was deployed onto a mobile robot, where three different agents could take, transfer, share, enable, or disable robot control. Compared to single-agent systems, the multi-agent mixed-initiative system completed a series of navigation tasks more quickly. The multi-agent system also completed navigation tasks that a single-agent autonomous system could not. Further design improvements and applications for mixed-initiative systems are discussed

Download or read book Objective Coordination in Multi Agent System Engineering written by Michael Schumacher and published by Springer Science & Business Media. This book was released on 2001-04-25 with total page 150 pages. Available in PDF, EPUB and Kindle. Book excerpt: Based on a suitably defined coordination model distinguishing between objective (inter-agent) coordination and subjective (intra-agent) coordination, this book addresses the engineering of multi-agent systems and thus contributes to closing the gap between research and applications in agent technology. After reviewing the state of the art, the author introduces the general coordination model ECM and the corresponding object-oriented coordination language STL++. The practicability of ECM/STL++ is illustrated by the simulation of a particular collective robotics application and the automation of an e-commerce trading system. Situated at the intersection of behavior-based artificial intelligence and concurrent and distributed systems, this monograph is of relevance to the agent R&D community approaching agent technology from the distributed artificial intelligence point of view as well as for the distributed systems community.

Download or read book Approximate Multi agent Planning in Dynamic and Uncertain Environments written by Joshua David Redding and published by . This book was released on 2012 with total page 131 pages. Available in PDF, EPUB and Kindle. Book excerpt: Teams of autonomous mobile robotic agents will play an important role in the future of robotics. Efficient coordination of these agents within large, cooperative teams is an important characteristic of any system utilizing multiple autonomous vehicles. Applications of such a cooperative technology stretch beyond multi-robot systems to include satellite formations, networked systems, traffic flow, and many others. The diversity of capabilities offered by a team, as opposed to an individual, has attracted the attention of both researchers and practitioners in part due to the associated challenges such as the combinatorial nature of joint action selection among interdependent agents. This thesis aims to address the issues of the issues of scalability and adaptability within teams of such inter-dependent agents while planning, coordinating, and learning in a decentralized environment. In doing so, the first focus is the integration of learning and adaptation algorithms into a multi-agent planning architecture to enable online adaptation of planner parameters. A second focus is the development of approximation algorithms to reduce the computational complexity of decentralized multi-agent planning methods. Such a reduction improves problem scalability and ultimately enables much larger robot teams. Finally, we are interested in implementing these algorithms in meaningful, real-world scenarios. As robots and unmanned systems continue to advance technologically, enabling a self-awareness as to their physical state of health will become critical. In this context, the architecture and algorithms developed in this thesis are implemented in both hardware and software flight experiments under a class of cooperative multi-agent systems we call persistent health management scenarios.

Download or read book Advanced Agent Technology written by Francien Dechesne and published by Springer. This book was released on 2012-01-11 with total page 525 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the thoroughly refereed post-workshop proceedings of 5 workshops, held at the 10th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2011, in Taipei, Taiwan, May 2-6, 2011. The 37 revised full papers presented together with 1 invited paper were carefully reviewed and selected from numerous submissions. The papers are organized in sections on the workshops Agent-Based Modeling for Policy Engineering (AMPLE), Agent-Oriented Software Engineering (AOSE), Autonomous Robots and Multirobot Systems (ARMS), Data Oriented Constructive Mining and Multi-Agent Simulation, Massively Multi-Agent Systems: Models, Methods and Tools (DOCM3AS), and Infrastructures and Tools for Multiagent Systems (ITMAS).

Download or read book Model Driven Development of Intelligent Mobile Robot Using Systems Modeling Language SysML written by Mohd Azizi Abdul Rahman and published by . This book was released on 2011 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Mobile Robots written by Janusz Bȩdkowski and published by IntechOpen. This book was released on 2011-12-02 with total page 404 pages. Available in PDF, EPUB and Kindle. Book excerpt: The objective of this book is to cover advances of mobile robotics and related technologies applied for multi robot systems' design and development. Design of control system is a complex issue, requiring the application of information technologies to link the robots into a single network. Human robot interface becomes a demanding task, especially when we try to use sophisticated methods for brain signal processing. Generated electrophysiological signals can be used to command different devices, such as cars, wheelchair or even video games. A number of developments in navigation and path planning, including parallel programming, can be observed. Cooperative path planning, formation control of multi robotic agents, communication and distance measurement between agents are shown. Training of the mobile robot operators is very difficult task also because of several factors related to different task execution. The presented improvement is related to environment model generation based on autonomous mobile robot observations.

Download or read book Navigation and Coordination of Autonomous Mobile Robots with Limited Resources written by Matthew D. Knudson and published by . This book was released on 2010 with total page 308 pages. Available in PDF, EPUB and Kindle. Book excerpt: The use of autonomous robots in complex exploration tasks is rapidly increasing. Indeed, robots can provide speed and cost effectiveness in many tasks, as well as allow operation in environments that are hostile to humans. In this dissertation we: 1) provide two adaptive navigation algorithms; 2) develop a coordination mechanism; 3) develop a dynamic partnership formation mechanism; and 4) demonstrate the use of algorithms in a hardware implementation. The two adaptive navigation algorithms are neuro-evolution and policy gradient, where the results show that effective, adaptive navigation techniques can be developed for mobile robots in an exploration domain when the robots have limited capabilities. In addition, we show that policy gradient approaches thrive on short-term objective values, whereas neuro-evolutionary approaches provide more robust results with a time-extended objective value. Finally, we show that summing short-term values to generate a time-extended value does not capture the complexities of some real world exploration tasks. Coordinating multi-robot systems to maximize global information collection in these exploration domains presents additional challenges. In particular, in many multi-robot domains where communication is expensive, the coordination must be achieved in a passive manner. This is done in this dissertation via objective design on a hierarchical control scheme where both a navigation algorithm and coordination algorithm are operating simultaneously. We then extend results on such multi-robot coordination algorithms to domains where the robots cannot achieve the required tasks without forming teams. We investigate team formation where: i) robots must perform a task together; ii) there is an optimal number of robots; and iii) individuals vary, forming heterogeneous teams. The results show that using neuro-evolutionary robot teams with objective functions that are aligned with the global objective and locally computable significantly improve over robots using the global objective directly, particularly in dynamic environments. Finally, we develop a path to implementation of all of the coordination research done to date into robot hardware. The design represents a stable, robust robotic platform on which navigation and coordination algorithms can be run in the fashion they were developed and intricacies of real-world operation can be analyzed. Functional experiments show that the platform operates as expected and performs similarly to algorithm work done in simulation.

Download or read book Agent and Multi Agent Systems written by Piotr Jedrzejowicz and published by . This book was released on 2011-03-13 with total page 464 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Automated Synthesis of Multi Agent Control written by and published by . This book was released on 2000 with total page 31 pages. Available in PDF, EPUB and Kindle. Book excerpt: We have been pursuing a synthetic approach to studying the problem of controlling complex multi-robot systems by simultaneously developing a theory and testing it on complex domains consisting physical mobile robots. This process allows us to evaluate, improve, and further develop our theory, while producing a set of useful software and hardware applications. Our approach is behavior-based; the robots use a set of behaviors (parametric, goal-achieving control laws) as a substrate for control, representation, and learning. This approach scales well to large multi-robot systems, and enables us to flexibly explore complex problems such as the coordination of decentralized groups and learning in such distributed systems.

Download or read book Using Agent based Models to Understand Multi operator Supervisory Control written by Yisong Guo and published by . This book was released on 2012 with total page 56 pages. Available in PDF, EPUB and Kindle. Book excerpt: As technology advances, many practical applications require human-controlled robots. For such applications, it is useful to determine the optimal number of robots an operator should control to maximize human efficiency given different situations. One way to achieve this is through computer simulations of team performance. In order to factor in various parameters that may affect team performance, an agent-based model will be used. Agent-based modeling is a computational method that enables a researcher to create, analyze, and experiment with models composed of agents that interact within an environment [12]. We construct an agent-based model of humans interacting with robots, and explore how team performance relates to different agent parameters and team organizational structures [21]. Prior work describes interaction between a single operator and multiple robots, while this work includes multi-operator performance and coordination. Model parameters include neglect time, interaction time, operator slack time, level of robot autonomy, etc. Understanding the parameters that influence team performance will be a step towards finding ways to maximize performance in real life human-robot systems.

Download or read book Design and Implementation of the Self Agent System in a Multi agent Based Robot Control Architecture written by William A. Alford and published by . This book was released on 2003 with total page 306 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Applications of Mobile Robots written by and published by BoD – Books on Demand. This book was released on 2019-03-20 with total page 230 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book includes a selection of research work in the mobile robotics area, where several interesting topics are presented. In this way we find a review of multi-agents, different techniques applied to the navigation systems, artificial intelligence algorithms, which include deep learning applications, systems where a Kalman filter estimator is extended for visual odometry, and finally the design of an on-chip system for the execution of cognitive agents. Additionally, the development of different ideas in mobile robot applications are included and hopefully will be useful and enriching for readers.