multi robot


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In multi robot systems simple robots are allowed to coordinate with each other to achieve some well defined goals. In these kinds of systems robots are far less capable as an entity, but the real power lies in cooperation of multiple robots.

A smart robot is an artificial intelligence (AI) system that can learn from its environment and its experience and build on its capabilities based on that knowledge. Smart robots can collaborate with humans, working along-side them and learning from their behavior.

Coordination for multi robot exploration and mapping
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This paper addresses the problem of exploration and mapping of an unknown environment by multiple robots. The mapping algorithm is an on-line approach to likelihood maximization that uses hill climbing to find maps that are maximally consistent with sensor data and

Distributed Intelligence: Overview of the Field and its Application in Multi Robot Systems.
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This paper introduces the concepts of distributed intelligence, outlining the motivations for studying this field of research. We then classify common systems of distributed intelligence based upon the types of interactions exhibited, since the type of interaction has relevance to

On parallel RRTs for multi robot systems
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Rapidly-exploring Random Trees are planning algorithms recently introduced for a broad class of path planning problems. In this paper we provide three different ways to better the performance of such algorithms. Numerical results obtained implementing them over aRecently, auction methods have been investigated as effective, decentralized methods for multi robot coordination. Experimental research has shown great potential, but has not been complemented yet by theoretical analysis. In this paper we contribute a theoretical analysis

A review: Pattern formation and adaptation in multi robot systems
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Recent advances in robotics have started making it feasible to deploy large numbers of inexpensive robots for tasks such as surveillance and search. However, coordination of multiple robots to accomplish such tasks remains a challenging problem. This report reviews

Adaptive multi robot wide-area exploration and mapping
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The exploration problem is a central issue in mobile robotics. A complete terrain coverage is not practical if the environment is large with only a few small hotspots. This paper presents an adaptive multi robot exploration strategy that is novel in performing both wide-area

Multiagent reinforcement learning for multi robot systems: A survey
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Multiagent reinforcement learning for multi robot systems is a challenging issue in both robotics and artificial intelligence. With the ever increasing interests in theoretical researches and practical applications, currently there have been a lot of efforts towards

Multi robot target detection and tracking: taxonomy and survey
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Target detection and tracking encompasses a variety of decisional problems such as coverage, surveillance, search, patrolling, observing and pursuit-evasion along with others. These problems are studied by several communities, that tackle them using diverse

Multi robot collision avoidance with localization uncertainty.
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This paper describes a multi robot collision avoidance system based on the velocity obstacle paradigm. In contrast to previous approaches, we alleviate the strong requirement for perfect sensing (ie global positioning) using Adaptive Monte-Carlo Localization on a per

A free market architecture for distributed control of a multirobot system
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Jensen and Veloso , Švestka and Overmars [17], and Brumitt and Stentz are examples of the centralized approach to control a multi robot system organized hierarchically. A number of researchers have developed biologically inspired, locally reactive, behavior-based

A survey of multi robot task allocation
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This report offers an overview of principal approaches to task allocation in the context of mobile robotics, with a strong focus in solutions used in service and field robotics. Popular methodologies are identified and their strengths and shortcomings discussed. Critical

A taxonomy of multirobot systems
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A key difficulty in the design of multiagent robotic systems is the size and complexity of the space of possible designs. In order to make principled design decisions, an understanding of the many possible system configurations is essential. In Dudek et al.[DJMW96] weWork on coordinated multi robot exploration often assumes that all areas to be explored are freely accessible. This common assumption does not always hold, especially not in search and rescue missions after a disaster. Doors be closed or paths blocked detaining robots

Multi robot dynamic role assignment and coordination through shared potential fields
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Role assignment and coordination are difficult issues for multi robot systems, especially in highly dynamic tasks. Robot soccer is one such task and it provides a unique challenge for multi robot research. In this paper, we contribute the approach that we successfully

Multirobot systems
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We use a multi robot path-planning problem as a case study to present the key ideas behind our framework and demonstrate it both in simulation and on real Two robots can collide, for example, if one robot already moves at large speed while another robot accelerates from

Multi robot decision making using coordination graphs
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Within a group of cooperating agents the decision making of an individual agent depends on the actions of the other agents. In dynamic environments, these dependencies will change rapidly as a result of the continuously changing state. Via a context-specific decomposition Online complete coverage is required in many applications, such as in floor cleaning, lawn mowing, mine hunting, and harvesting, and can be performed by single-or multi robot systems. Motivated by the efficiency and robustness of multi robot systems, this study

A realistic model of frequency-based multi robot polyline patrolling
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There is growing interest in multi robot frequency-based patrolling, in which a team of robots optimizes its frequency of point visits, for every point in a target work area. In particular, recent work on patrolling of open polygons (eg, open-ended fences) has proposed a

A Comparative Study between Optimization and Market-Based Approaches to Multi Robot Task Allocation.
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This paper presents a comparative study between optimization-based and market-based approaches used for solving the Multirobot task allocation (MRTA) problem that arises in the context of multirobot systems (MRS). The two proposed approaches are used to find the

USARSim: providing a framework for multi robot performance evaluation
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Research efforts in urban search and rescue robotics have grown substantially in recent years. Two important robotic competitions (a robot physical league and a high-level infrastructure simulation league) were established in under the RoboCup umbrella to

Development of a socially believable multi robot solution from town to home
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Technological advances in the robotic and ICT fields represent an effective solution to address specific societal problems to support ageing and independent life. One of the key factors for these technologies is that they have to be socially acceptable and believable to

Multi robot exploration of an unknown environment, efficiently reducing the odometry error
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This paper deals with the intelligent exploration of an unknown environment by autonomous robots. In particular, we present an algorithm and associated analysis for collaborative exploration using two mobile robots. Our approach is based on robots with range sensors

Heterogeneous multirobot coordination with spatial and temporal constraints
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We present a formal description of the multirobot joint task allocation problem with heterogeneous capabilities and spatial constraints and an The time allocated for travel in this timestep for this robot must at least equal the time necessary for this robot to traverse path (g g2).

Simultaneous adversarial multi robot learning
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Multi robot learning faces all of the challenges of robot learning with all of the challenges of multiagent learning. There has been a great deal of recent research on multiagent reinforcement learning in stochastic games, which is the intuitive extension of MDPs to

Behavioural approach for multi robot exploration
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Control strategies for mapping of unknown environments require a tradeoff between exploration and accuracy. One approach to balance these conflicting requirements is to use schema based behaviours to provide a means of exploration and manipulate the

Graph Decomposition for Efficient Multi Robot Path Planning.
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In my previous paper (Ryan) I introduced the concept of subgraph decomposition as a means of reducing the search space in multi robot planning problems. I showed how partitioning a roadmap into subgraphs of known structure allows us to first plan at a level of

Real time auction based allocation of tasks for multi robot exploration problem in dynamic environments
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Single auction-based methods are known to be efficient for multi robot problem solving. In this work, we investigate performance of our general multi robot coordination framework for multi robot multi target exploration problem under uncertainties in dynamic environments

Multi robotbased intelligent security system
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This article describes a multiple security module-based intelligent security system that has multiple communication interfaces which can be applied in home automation. The interfaces of the intelligent security system contain wired RS48 wireless RF, and Internet. The

Multi robot control system for pursuit evasion problem
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We propose a hierarchical multiagent control system with a rule based fuzzy system for a pursuit-evasion problem. We state a new representation of this type of problem that is based on fuzzy logic. We can express parts of the available space as fuzzy relations and assign

Efficient Online Multi robot Exploration via Distributed Sequential Greedy Assignment.
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This work addresses the problem of efficient online exploration and mapping using multi robot teams via a distributed algorithm for planning for multi robot exploration distributed sequential greedy assignment (DSGA) based on the sequential greedy assignment (SGA)

Opponent-driven planning and execution for pass, attack, and defense in a multi robot soccer team
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ABSTRACT We present our Small Size League (SSL) robot soccer team, CMDragons, which performed strongly at the RoboCup13 competition, placing second out of twenty teams after a prolonged final match ending in penalty shoot-outs. We briefly present the robots

DARP: divide areas algorithm for optimal multi robot coverage path planning
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This paper deals with the path planning problem of a team of mobile robots, in order to cover an area of interest, with prior-defined obstacles. For the single robot case, also known as single robot coverage path planning (CPP), an 𝓞 (n) optimal methodology has already been

Ad-hoc network communication infrastructure for multi robot systems in disaster scenarios
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Mobile ad-hoc networks (MANETs) are communication networks that do not rely on fixed, preinstalled communication devices like base stations or predefined communication cells. MANETs are wireless networks consisting of mobile nodes which are characterized by their

Optimal Market-based Multi Robot Task Allocation via Strategic Pricing.
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Auction and market-based mechanisms are among the most popular methods for distributed task allocation in multirobot systems. Most of these mechanisms were designed in a heuristic way and analysis of the quality of the resulting assignment solution is rare. This The workshop began with presentations by various government program managers describing application areas and programs with an interest in multi robot systems. Government representatives were on hand from the Office of Naval Research, the Air Force

Multi robot search using a physically-embedded particle swarm optimization
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We have derived a version of the PSO algorithm that is suitable for a swarm of small, mobile robots. Our version of the PSO is physically embedded into the robots; there is not a central agent that coordinates the movements or actions of the robots. Simulation results show that

Multi robot task allocation strategies using auction-like mechanisms
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Task allocation is a complex and open problem for multi robot systems. In this paper, we present three strategies for dynamically allocating tasks in a colony of mobile robots. The system is partially inspired on auction and thresholds-based methods and tries to determine

Efficient Bids on Task Allocation for Multi Robot Exploration.
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We propose a real time single item auction based task allocation method for the multi robot exploration problem and investigate new bid evaluation strategies in this domain. In this problem, a different version of the well known NP-hard MTSP (Multiple Traveling Salesman

Decentralised online planning for multi robot warehouse commissioning
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Warehouse commissioning is a complex task in which a team of robots needs to gather and deliver items as fast and efficiently as possible while adhering to the constraint capacity of the robots. Typical centralised control approaches can quickly become infeasible when

Protoswarm: a language for programming multi robot systems using the amorphous medium abstraction
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Multi robot systems are becoming increasingly prevalent, but programmability is a major barrier to their deployment. Present systems force programmers to think in terms of individual agents. Application code becomes entangled with details of coordination and

Techniques for learning in multi robot teams
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Before multi robot teams will ever become widely used in practice, we believe that advances must be made in the development of mechanisms that enable the robot teams to autonomously generate and adapt cooperative behaviors. With the current state of the art

Object manipulation using cooperative mobile multi robot systems
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Transportation of large objects or their manipula-tion in hazardous environments are tasks where the utilization of groups of mobile robots working in a cooperative fashion can be of great advantage. To execute such tasks, a multirobot formation control framework is Bringing together leading researchers and government sponsors for three days of technical interchange on multi robot systems, the workshop follows two previous highly successful gatherings in and 2003. Like the previous two workshops, the meeting

Asymptotically Optimal Planning for Non-Myopic Multi Robot Information Gathering.
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This paper proposes a novel highly scalable sampling-based planning algorithm for multi robot active information acquisition tasks in complex environments. Active information gathering scenarios include target localization and tracking, active SLAM, surveillance

Design of multi robot system for cleaning up marine oil spill
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The researchers and oil companies are trying to take some precaution for the problem of oil spill in sea, river or on ground etc. A lot of work concerned by removing the oil from water, there were many advanced tools for this task This paper presents a multi robot system that

Adaptive multi robot bucket brigade foraging
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Bucket brigade foraging improves upon homogeneous foraging by reducing spatial interference between robots, which occurs when robots are forced to work in the same space, and must spend time avoiding one another instead of carrying out useful work

Decentralized multi robot encirclement of a 3D target with guaranteed collision avoidance
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We present a control framework for achieving encirclement of a target moving in 3D using a multi robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their effectiveness is formally established. An

Results in sliding autonomy for multi robot spatial assembly
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We have developed a software architecture for teams of robots and humans to jointly perform tightly coordinated tasks, such as assembly of structures in orbit or on planetary surfaces. While we envision that robots will autonomously perform such work in the futureWith the development of information technology, the capability and application fields of robots become wider. In order to complete a complex task, the cooperation and coordination of robots are needed to be adopted. As the main problem of the multi robot systems, multi

Search rescue using multi robot systems
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Robotic search and rescue is a challenging yet promising research area which has significant real-world application potentials. In this paper, a survey of multi robot systems and how they can be implemented in search and rescue operations is presented. In

A semantically-informed multirobot system for exploration of relevant areas in search and rescue settings
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The next section surveys the methods that have been proposed to perform the decision making step (c) in the context of coordinated multi robot exploration. Section 3 presents the proposed multirobot exploration system. Section 4 shows extensive experimental simulated

Are (explicit) multi robot coordination and multiagent coordination really so different
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Largely because of significant qualitative differences between the respective systems under study, the multiagent and multi robot research communities have each developed their own methods for perception, reasoning, and action in individual agents/robots. In particular, the

Feature Selection for Activity Recognition in Multi Robot Domains.
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In multi robot settings, activity recognition allows a robot to respond intelligently to the other robots in its environment. Conditional random fields are temporal models that are well suited for activity recognition because they can robustly incorporate rich, non-independent features

Distributed environmental modeling and adaptive sampling for multi robot sensor coverage
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We consider the problem of online distributed environmental modeling and adaptive sampling for multi robot sensor coverage, where a team of robots spread out over the workspace in order to optimize the sensing performance over environmental phenomena

A MULTI ROBOT EDUCATIONAL AND RESEARCH FRAMEWORK.
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Robots have greatly transformed humans life. Multidisciplinary research in robotics essentially demands having sophisticated frameworks with diverse range of capabilities ranging from simple tasks like testing of control algorithms to handling complex scenarios

Teaching multi robot coordination using demonstration of communication and state sharing (short paper)
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Solutions to complex tasks often require the cooperation of multiple robots, however, developing multi robot policies can present many challenges. In this work, we introduce teaching by demonstration in the context of multi robot tasks, enabling a single teacher to

Multimodal belief updates in multi robot human- robot dialogue interaction
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Humans working in teams typically use task-based natural language dialogues to coordinate activities. And they use mental models of team mates which they update automatically based on perceived and communicated information to predict the actions of

A multi robot architecture for planetary rovers
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Salford University has for some time been working in the area of multiple co-operant autonomous mobile robots. While there are a number of applications for this technology in remote hazardous environments, such as rover based planetary exploration, the required

Composition of Vector Fields for Multi Robot Manipulation via Caging.
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This paper describes a novel approach for multirobot caging and manipulation, which relies on the team of robots forming patterns that trap the object to be manipulated and dragging or pushing the object to the goal configuration. The controllers are obtained by sequential

Iterated multi robot auctions for precedence-constrained task scheduling
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We consider the multi robot task scheduling problem with precedence constraints, and introduce a general algorithm to approximate a solution to this problem. Our algorithm utilizes an iterated auction scheme, in which a batch of tasks that are pairwise unconstrained


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