Download or read book Market driven Multi robot Exploration written by Robert Zlot and published by . This book was released on 2002 with total page 13 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: "For many real-world applications, autonomous robots must execute complex tasks in unknown or partially known unstructured environments. This work presents a novel approach to efficient multi-robot mapping and exploration which exploits a market architecture in order to maximize information gain while minimizing incurred costs. This system is reliable and robust in that it can accommodate dynamic introduction and loss of team members in addition to communication interruptions and failures. Results showing the capabilities of our system on a team of exploring autonomous robots are also given."

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 Multi robot Exploration for Environmental Monitoring written by Kshitij Tiwari and published by Academic Press. This book was released on 2019-11-29 with total page 278 pages. Available in PDF, EPUB and Kindle. Book excerpt: Multi-robot Exploration for Environmental Monitoring: The Resource Constrained Perspective provides readers with the necessary robotics and mathematical tools required to realize the correct architecture. The architecture discussed in the book is not confined to environment monitoring, but can also be extended to search-and-rescue, border patrolling, crowd management and related applications. Several law enforcement agencies have already started to deploy UAVs, but instead of using teleoperated UAVs this book proposes methods to fully automate surveillance missions. Similarly, several government agencies like the US-EPA can benefit from this book by automating the process. Several challenges when deploying such models in real missions are addressed and solved, thus laying stepping stones towards realizing the architecture proposed. This book will be a great resource for graduate students in Computer Science, Computer Engineering, Robotics, Machine Learning and Mechatronics. Analyzes the constant conflict between machine learning models and robot resources Presents a novel range estimation framework tested on real robots (custom built and commercially available)

Download or read book Role based Multi robot Exploration written by Julian de Hoog 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 Communicative Exploration written by Martijn N. Rooker and published by . This book was released on 2005 with total page 163 pages. Available in PDF, EPUB and Kindle. Book excerpt: Exploration is one of the main research topics in the field of mobile robotics. Multiple robots have been applied for different exploration algorithms In most of the these algorithms the robots exchange data via wireless communication assuming perfect data transmission in the whole environment. Unfortunately, this assumption does not always hold, as e.g. the range of wireless communication is limited. In this thesis Communicative Exploration is presented, which is based on Frontier-Based Exploration. For communicative exploration a group of robots is exploring unknown environments and maintain communication throughout the whole exploration process. The robots form a mobile ad-hoc network that is fully connected for the entire exploration. The motion of the robots is controlled via a heuristic utility function which assigns values to a population of configurations. The configuration with the highest utility value defines the motions of the robots. Different versions of communicative exploration are presented. In the first version a basestation is located outside the environment, from where a human operator can control or supervise the group of robots. During exploration the robots also maintain communication with the basestation. An extension to this version is presented where an improved motion control algorithm is implemented. By calculating a distance transform over the environment the robots are guided better towards the unknown areas of the environment. In a different version the basestation is omitted from the setup to enlarge the reachability of the robots. The group of robots explores the environment acting as a robot pack. Surprisingly, this version introduce situations where the robots get stuck in the environment in deadlock situations. Strategies are introduced that try to avoid or recover from these deadlocks.

Download or read book Behaviour Based Simulated Low cost Multi robot Exploration written by Jose Manuel Vazquez Diosdado and published by . This book was released on 2006 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The use of multiple robots for exploration holds the promise of improved performance over single robot systems. To exploit effectively the advantage of having several robots, the robots must be co-ordinated which requires communication. Previous research relies on a fixed communication network topology, a single lead explorer, and flat communication. This thesis presents a novel architecture to keep a group of robots as a single connected and adaptable communication network to explore and map the environment. This architecture, BERODE (BEhavioural ROle DEcentralized), aims to be robust, efficient and scalable to large numbers of robots. The network is adaptable, the number of explorers variable, and communications hierarchical (local/global). The network is kept connected by an MST (Minimum Spanning Tree) control network, a subnetwork containing only the minimum necessary links to be a fully connected network. As the robots explore, the MST control network is updated either partially (local network) or globally to improve signal quality. The local network for a robot is formed by the robots that are within a certain retransmission distance in the MST control network. BERODE implements a hierarchic approach to distributing information to improve scalability with respect to the number of robots. The robots share information at two levels: frequently within their local network and less frequently to the entire robot network. The robots coordinate by assuming behaviours depending on their connections in the MST control network. The behavioural roles balance between the tasks of exploration and network maintenance where the Explorer role is the most focused on the exploration task. This improves efficiency by allowing varying number of robots to take the Explorer role depending on circumstances. The roles generate reactive plans that ensure the connectivity of the network. These plans are based on the imposition of heterogeneous virtual spring forces. Our simulations show that BERODE is more efficient, scalable and robust with respect to communications than the previous approaches that rely on fixed control networks. BERODE is more efficient because it required less time to build a complete map of the environment than the fixed control networks. BERODE is more scalable because it keeps the robots as a single connected network for more time than the fixed control networks. BERODE is more robust because it has a better success rate at finishing the exploration.

Download or read book Distributed Autonomous Robotic Systems 7 written by Maria Gini and published by Springer Science & Business Media. This book was released on 2007-06-10 with total page 261 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book collects papers selected by an international program committee for presentation at the 8th International Symposium on Distributed Autonomous Robotic Systems. The papers present state of the art research advances in the field of distributed robotics. What makes this book distinctive is the emphasis on using multiple robots and on making them autonomous, as opposed to being teleoperated. Novel algorithms, system architectures, technologies, and numerous applications are covered.

Download or read book From Mobile Robot Localisation to Multi robot Exploration written by Adam Easton and published by . This book was released on 2007 with total page 474 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Cutting Edge Robotics written by and published by I-Tech. This book was released on with total page 796 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Multi Robot Systems From Swarms to Intelligent Automata Volume III written by Lynne E. Parker and published by Springer Science & Business Media. This book was released on 2005-08-15 with total page 290 pages. Available in PDF, EPUB and Kindle. Book excerpt: This proceedings volume documents recent cutting-edge developments in multi-robot systems research. This volume is the result of the Third International workshop on Multi-Robot Systems that was held in March 2005 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 Multi Robot Exploration Using Potential Games written by George Philip and published by LAP Lambert Academic Publishing. This book was released on 2014-02 with total page 136 pages. Available in PDF, EPUB and Kindle. Book excerpt: The exploration of environments using collaborative robots has received much attention from the research community in recent years. They offer advances in planetary exploration, reconnaissance, rescue missions, etc., where hostile environments pose a risk to humans. In this book, we consider exploring a 2-D environment with multiple robots by modelling the problem as a Potential Game rather than using conventional frontier-based dynamic programming algorithms. A potential game is a type of game that results in coordinated behaviours amongst players. This is done by enforcing strict rules for each player in selecting an action from its action set. As part of this game, we define a potential function for the game that is meaningful in terms of achieving the greater objective of exploring a space. Furthermore, an objective function is assigned for each player from this potential function. Simulations show that the resulting potential game algorithm outperforms uncoordinated algorithms by taking less time to uncover a space.

Download or read book Robust Distributed Multi Robot Information Based Exploration and Sampling written by Carlos Porfirio Nieto Granda and published by . This book was released on 2021 with total page 344 pages. Available in PDF, EPUB and Kindle. Book excerpt: Coordination strategies for multi-robot exploration and navigation utilizing adaptive informative sampling to enable robot platforms to autonomously perform intelligence, surveillance and reconnaissance (ISR) missions in unknown environments allowing them to prevent future risk of vulnerability and threats.

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 Market Based Multirobot Coordination A Comprehensive Survey and Analysis written by and published by . This book was released on 2005 with total page 50 pages. Available in PDF, EPUB and Kindle. Book excerpt: As robotic technology improves, we charge robots with increasingly varied and difficult tasks. Many of these tasks can potentially be completed better by a team of robots working together than by individual robots working alone. Coordination can lead to faster task completion, increased robustness, higher-quality solutions, and the completion of tasks impossible for single robots. Nevertheless, effective coordination can be difficult to achieve because of a range of adverse real-world conditions including dynamic events, changing task demands, resource failures, and limited deliberation time. The desire to overcome these challenges and harness the benefits of robot teams has made multirobot coordination a vital field in robotics research. Of the resulting wealth of research, market-based multirobot coordination approaches in particular have received significant attention and are growing in popularity within the community. These approaches harness the principles of market economies?which have successfully governed human coordination for thousands of years?and use them to enable robot coordination. In market-based approaches, robots on the team act as self-interested agents operating in a virtual economy in which tasks and team resources are exchanged over the market in pursuit of individual profit. The essence of market-based approaches is that the process of robots trading tasks and resources with one another to maximize their wealth simultaneously improves the efficiency of the team. Market-based approaches to multirobot coordination inherit many of the benefits associated with market economies, including flexibility, efficiency, responsiveness, robustness scalability, and generality. In practice, they have been successfully implemented in a variety of domains ranging from mapping and exploration to robot soccer.

Download or read book Springer Handbook of Robotics written by Bruno Siciliano and published by Springer. This book was released on 2016-07-27 with total page 2259 pages. Available in PDF, EPUB and Kindle. Book excerpt: The second edition of this handbook provides a state-of-the-art overview on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition of the handbook, edited by two internationally renowned scientists with the support of an outstanding team of seven part editors and more than 200 authors, continues to be an authoritative reference for robotics researchers, newcomers to the field, and scholars from related disciplines. The contents have been restructured to achieve four main objectives: the enlargement of foundational topics for robotics, the enlightenment of design of various types of robotic systems, the extension of the treatment on robots moving in the environment, and the enrichment of advanced robotics applications. Further to an extensive update, fifteen new chapters have been introduced on emerging topics, and a new generation of authors have joined the handbook’s team. A novel addition to the second edition is a comprehensive collection of multimedia references to more than 700 videos, which bring valuable insight into the contents. The videos can be viewed directly augmented into the text with a smartphone or tablet using a unique and specially designed app. Springer Handbook of Robotics Multimedia Extension Portal: http://handbookofrobotics.org/

Download or read book Multi robot Exploration Under Non ideal Communication Conditions written by Facundo Benavides Olivera and published by . This book was released on 2019 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The exploration problem is a fundamental subject in autonomous mobilerobotics that deals with achieving the complete coverage of a previously unknown environment.There are several scenarios where completing exploration of a zone is a main part of themission, e.g. planetary exploration, reconnaissance, search and rescue, agriculture, cleaning,or dangerous places as mined lands and radioactive zones. Wireless communication plays animportant role in collaborative multi-robot strategies. Unfortunately, the assumption or requirementof stable communication and end-to-end connectivity may be easily compromised inreal scenarios. In this thesis, two novel approaches to tackle the problem of multi-robot explorationof communication constrained environments are proposed. At first, an auto-adaptivemulti-objective strategy is followed in order to support the selection of tasks regarding bothexploration performance and connectivity level. Secondly, two roles -explorer and communicationrelay- are considered in order to improve the benefits of the previous task selectionstrategy. Based on the communication model, a novel polynomial-time relay placement approachfor multi-robot exploration missions is introduced in detail. Compared with others,the proposed approaches are capable of decreasing the last of disconnection periods withouta noticeable degradation of the completion exploration time.

Download or read book Distributed Multi Robot Exploration written by Dominik Haumann and published by . This book was released on 2015 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: