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Loughborough University
1.
Razali, Sazalinsyah.
Immune systems inspired multi-robot cooperative shepherding.
Degree: PhD, 2014, Loughborough University
URL: http://hdl.handle.net/2134/16361 
► Certain tasks require multiple robots to cooperate in order to solve them. The main problem with multi-robot systems is that they are inherently complex and…
(more)
▼ Certain tasks require multiple robots to cooperate in order to solve them. The main problem with multi-robot systems is that they are inherently complex and usually situated in a dynamic environment. Now, biological immune systems possess a natural distributed control and exhibit real-time adaptivity, properties that are required to solve problems in multi-robot systems. In this thesis, biological immune systems and their response to external elements to maintain an organism's health state are researched. The objective of this research is to propose immune-inspired approaches to cooperation, to establish an adaptive cooperation algorithm, and to determine the refinements that can be applied in relation to cooperation. Two immune-inspired models that are based on the immune network theory are proposed, namely the Immune Network T-cell-regulated – with Memory (INT-M) and the Immune Network T-cell-regulated – Cross-Reactive (INT-X) models. The INT-M model is further studied where the results have suggested that the model is feasible and suitable to be used, especially in the multi-robot cooperative shepherding domain. The Collecting task in the RoboShepherd scenario and the application of the INT-M algorithm for multi-robot cooperation are discussed. This scenario provides a highly dynamic and complex situation that has wide applicability in real-world problems. The underlying 'mechanism of cooperation' in the immune inspired model (INT-M) is verified to be adaptive in this chosen scenario. Several multi-robot cooperative shepherding factors are studied and refinements proposed, notably methods used for Shepherds' Approach, Shepherds' Formation and Steering Points' Distance. This study also recognises the importance of flock identification in relation to cooperative shepherding, and the Connected Components Labelling method to overcome the related problem is presented. Further work is suggested on the proposed INT-X model that was not implemented in this study, since it builds on top of the INT-M algorithm and its refinements. This study can also be extended to include other shepherding behaviours, further investigation of other useful features of biological immune systems, and the application of the proposed models to other cooperative tasks.
Subjects/Keywords: 006.3; Multi-robot; Immune systems; Cooperation; Coordination; Shepherding
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APA (6th Edition):
Razali, S. (2014). Immune systems inspired multi-robot cooperative shepherding. (Doctoral Dissertation). Loughborough University. Retrieved from http://hdl.handle.net/2134/16361
Chicago Manual of Style (16th Edition):
Razali, Sazalinsyah. “Immune systems inspired multi-robot cooperative shepherding.” 2014. Doctoral Dissertation, Loughborough University. Accessed March 06, 2021.
http://hdl.handle.net/2134/16361.
MLA Handbook (7th Edition):
Razali, Sazalinsyah. “Immune systems inspired multi-robot cooperative shepherding.” 2014. Web. 06 Mar 2021.
Vancouver:
Razali S. Immune systems inspired multi-robot cooperative shepherding. [Internet] [Doctoral dissertation]. Loughborough University; 2014. [cited 2021 Mar 06].
Available from: http://hdl.handle.net/2134/16361.
Council of Science Editors:
Razali S. Immune systems inspired multi-robot cooperative shepherding. [Doctoral Dissertation]. Loughborough University; 2014. Available from: http://hdl.handle.net/2134/16361
University of Guelph
2.
Cai, Yifan.
Intelligent Multi-robot Cooperation for Target Searching and Foraging Tasks in Completely Unknown Environments.
Degree: PhD, School of Engineering, 2013, University of Guelph
URL: https://atrium.lib.uoguelph.ca/xmlui/handle/10214/7518
► 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…
(more)
▼ 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.
Advisors/Committee Members: Yang, Simon (advisor).
Subjects/Keywords: Multi-robot cooperation; PSO; potential field; completely unknown environments; target searching; foraging
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APA (6th Edition):
Cai, Y. (2013). Intelligent Multi-robot Cooperation for Target Searching and Foraging Tasks in Completely Unknown Environments. (Doctoral Dissertation). University of Guelph. Retrieved from https://atrium.lib.uoguelph.ca/xmlui/handle/10214/7518
Chicago Manual of Style (16th Edition):
Cai, Yifan. “Intelligent Multi-robot Cooperation for Target Searching and Foraging Tasks in Completely Unknown Environments.” 2013. Doctoral Dissertation, University of Guelph. Accessed March 06, 2021.
https://atrium.lib.uoguelph.ca/xmlui/handle/10214/7518.
MLA Handbook (7th Edition):
Cai, Yifan. “Intelligent Multi-robot Cooperation for Target Searching and Foraging Tasks in Completely Unknown Environments.” 2013. Web. 06 Mar 2021.
Vancouver:
Cai Y. Intelligent Multi-robot Cooperation for Target Searching and Foraging Tasks in Completely Unknown Environments. [Internet] [Doctoral dissertation]. University of Guelph; 2013. [cited 2021 Mar 06].
Available from: https://atrium.lib.uoguelph.ca/xmlui/handle/10214/7518.
Council of Science Editors:
Cai Y. Intelligent Multi-robot Cooperation for Target Searching and Foraging Tasks in Completely Unknown Environments. [Doctoral Dissertation]. University of Guelph; 2013. Available from: https://atrium.lib.uoguelph.ca/xmlui/handle/10214/7518
3.
Ben Saad, Seifallah.
Conception d'un algorithme de coordination hybride de groupes de robots sous-marins communicants. Application : acquisition optique systématique et détaillée des fonds marins : Design of a hybrid coordination algorithm for groups of communicating submarine robots. Application : optical acquisition systematic and detailed seabed.
Degree: Docteur es, STIC-Automatique, 2016, Brest
URL: http://www.theses.fr/2016BRES0052
► Cette thèse présente l’étude d’une stratégie de coordination hybride d’un groupe de robots sous-marins pour la recherche d’objets de petites dimensions ou de singularités sur…
(more)
▼ Cette thèse présente l’étude d’une stratégie de coordination hybride d’un groupe de robots sous-marins pour la recherche d’objets de petites dimensions ou de singularités sur les fonds marins. Chaque robot est équipé d’un module de perception utilisant la librairie de traitement d’image OpenCV qui lui permet d’apercevoir les autres éléments de la meute ainsi que l’environnement d’évolution de la mission.Cette stratégie hybride est constituée de deux phases : une phase de mise en formation géométrique et une phase d’acquisition des données vidéo. La première phase s’appuie sur des algorithmes de type "essaims" alors que la seconde se fonde sur une méthode hiérarchique de coordination. En cas de perte de la formation, le groupe de robots quitte le mode hiérarchique et reprend le mode essaim pour se reformer. Ces changements de modes sont contrôlés par une machine à états finis. Avant d’entamer une expérimentation en grandeur nature, la méthodologie et les algorithmes de coordination doivent être testés et validés par simulation.Dans ce contexte, un simulateur basé sur le logiciel Blender a été conçu de façon à ce qu’il tienne compte des différentes contraintes liées à l’évolution des robots dans l’environnement sous-marin. Les résultats de simulation d’une meute de 3 AUVs montrent la capacité de notre stratégie à optimiser l’exécution d’une mission d’acquisition vidéo par un groupe de robots autonomes contrôlés par la vision et coordonnés par une stratégie hybride.
In the underwater environment, the needs of data acquisition have significantly increased over the last decades. As electromagnetic waves show poor propagation in sea water, acoustical sensing is generally preferred. However, the emergence of small and low cost autonomous underwater vehicles (AUV) allow for rethinking the underwater use of optical sensors as their small coverage can be significantly improved by using a fleet of coordinated underwater robots.This paper presents a strategy to coordinate the group of robots in order to systematically survey the seabed to detect small objects or singularities. The proposed hybrid coordination strategy is defined by two main modes. The first mode relies on a swarm algorithm to organize the team in geometrical formation. In the second mode, the robot formation is maintained using a hierarchical coordination. A finite state machine controls the high level hybrid strategy by defining the appropriate coordination mode according to the evolution of the mission. Before sea validation, the behavior and the performance of the hybrid coordination strategy are first assessed in simulation. The control of individual robots relies on visual servoing, implemented with the OpenCV library, and the simulation tool is based on Blender software.The dynamics of the robots has been implemented in a realistic way in Blender by using the Bullet solver and the hydrodynamic coeficcients estimated on the actual robot. First results of the hybrid coordination strategy applied on a fleet of 3 AUV’s, show execution of a video acquisition…
Advisors/Committee Members: Dambreville, Frédéric (thesis director).
Subjects/Keywords: Coopération multi-robots; Stratégie de coordination; Contrôle de la formation; Architectures de commande; Simulateur multi-robot; Contrôle visuel; Multi-robot cooperation; Coordination; Formation control; Control architectures; Visual control simulator; 629.892
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APA ·
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APA (6th Edition):
Ben Saad, S. (2016). Conception d'un algorithme de coordination hybride de groupes de robots sous-marins communicants. Application : acquisition optique systématique et détaillée des fonds marins : Design of a hybrid coordination algorithm for groups of communicating submarine robots. Application : optical acquisition systematic and detailed seabed. (Doctoral Dissertation). Brest. Retrieved from http://www.theses.fr/2016BRES0052
Chicago Manual of Style (16th Edition):
Ben Saad, Seifallah. “Conception d'un algorithme de coordination hybride de groupes de robots sous-marins communicants. Application : acquisition optique systématique et détaillée des fonds marins : Design of a hybrid coordination algorithm for groups of communicating submarine robots. Application : optical acquisition systematic and detailed seabed.” 2016. Doctoral Dissertation, Brest. Accessed March 06, 2021.
http://www.theses.fr/2016BRES0052.
MLA Handbook (7th Edition):
Ben Saad, Seifallah. “Conception d'un algorithme de coordination hybride de groupes de robots sous-marins communicants. Application : acquisition optique systématique et détaillée des fonds marins : Design of a hybrid coordination algorithm for groups of communicating submarine robots. Application : optical acquisition systematic and detailed seabed.” 2016. Web. 06 Mar 2021.
Vancouver:
Ben Saad S. Conception d'un algorithme de coordination hybride de groupes de robots sous-marins communicants. Application : acquisition optique systématique et détaillée des fonds marins : Design of a hybrid coordination algorithm for groups of communicating submarine robots. Application : optical acquisition systematic and detailed seabed. [Internet] [Doctoral dissertation]. Brest; 2016. [cited 2021 Mar 06].
Available from: http://www.theses.fr/2016BRES0052.
Council of Science Editors:
Ben Saad S. Conception d'un algorithme de coordination hybride de groupes de robots sous-marins communicants. Application : acquisition optique systématique et détaillée des fonds marins : Design of a hybrid coordination algorithm for groups of communicating submarine robots. Application : optical acquisition systematic and detailed seabed. [Doctoral Dissertation]. Brest; 2016. Available from: http://www.theses.fr/2016BRES0052
4.
Appelqvist, Pekka.
Mechatronics Design of a Robot Society – A Case Study of Minimalist Underwater Robots for Distributed Perception and Task Execution.
Degree: 2000, Helsinki University of Technology
URL: http://lib.tkk.fi/Diss/2000/isbn9512252295/
► This thesis describes the mechatronics design of a cooperative multi-robot system, including systems level design, practical implementation, and testing. Two main subjects are integrated in…
(more)
▼ This thesis describes the mechatronics design of a cooperative multi-robot system, including systems level design, practical implementation, and testing. Two main subjects are integrated in this research work: the generic concept of a Robot Society as an engineering framework to control an autonomously operating distributed multi-robot system, and the constructed prototype society consisting of several sensor/actuator robots for submerged use in a liquid environment. These novel types of prototype robots, SUBMARs, are targeted for distributed autonomous perception and task execution in the internal, three-dimensional on-line monitoring of various flow-through processes. The Robot Society control architecture implemented into SUBMAR robots supports such features as the autonomous cooperation of the robots, multi-tasking, self-organization, and selfoptimization in task execution. The mechatronics design of the robots has followed a minimalist approach, where the structure of the robot is maximally simplified. As a solution to compensate the obvious limitations derived from minimalism, the multiplicity and the cooperation of the robots have been exploited. On a systems level, this produces fault tolerant, flexible, and cost-effective engineering solutions for application. Altogether over 90 logged experiment runs with physical robots have been completed to elucidate the functioning and reveal the factors affecting the performance of the system. The testing has been performed in a laboratory environment in a special demonstration process. In these experiment series, the searching and destroying of distributed dynamic targets were tested. Furthermore, the meaning of communication in the development of robot consciousness during the mission has also been analyzed. As a result of the research work and systems development, profound knowledge has been gained and new solutions presented for the required technology for a minimalist mobile robot operating in a liquid process environment. SUBMAR Robot Society forms a technological basis for the development of real-world applications in the future.
Helsinki University of Technology, Automation Technology Laboratory. Series A, Research reports, ISSN 0783-5477; 22
Advisors/Committee Members: Helsinki University of Technology, Department of Automation and Systems Technology, Laboratory of Automation Technology.
Subjects/Keywords: multi-robot systems; robot society; mechatronics design; underwater robots; minimalist approach; robot cooperation; robot consciousness
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APA ·
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APA (6th Edition):
Appelqvist, P. (2000). Mechatronics Design of a Robot Society – A Case Study of Minimalist Underwater Robots for Distributed Perception and Task Execution. (Thesis). Helsinki University of Technology. Retrieved from http://lib.tkk.fi/Diss/2000/isbn9512252295/
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Appelqvist, Pekka. “Mechatronics Design of a Robot Society – A Case Study of Minimalist Underwater Robots for Distributed Perception and Task Execution.” 2000. Thesis, Helsinki University of Technology. Accessed March 06, 2021.
http://lib.tkk.fi/Diss/2000/isbn9512252295/.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Appelqvist, Pekka. “Mechatronics Design of a Robot Society – A Case Study of Minimalist Underwater Robots for Distributed Perception and Task Execution.” 2000. Web. 06 Mar 2021.
Vancouver:
Appelqvist P. Mechatronics Design of a Robot Society – A Case Study of Minimalist Underwater Robots for Distributed Perception and Task Execution. [Internet] [Thesis]. Helsinki University of Technology; 2000. [cited 2021 Mar 06].
Available from: http://lib.tkk.fi/Diss/2000/isbn9512252295/.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Appelqvist P. Mechatronics Design of a Robot Society – A Case Study of Minimalist Underwater Robots for Distributed Perception and Task Execution. [Thesis]. Helsinki University of Technology; 2000. Available from: http://lib.tkk.fi/Diss/2000/isbn9512252295/
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Rochester Institute of Technology
5.
Hays, Jacob.
Control of self-reconfigurable robot teams for sensor placement.
Degree: Computer Science (GCCIS), 2010, Rochester Institute of Technology
URL: https://scholarworks.rit.edu/theses/157
► "Self Reconfigurable Robots (SRRs) are a system of many simple modules that can rearrange themselves to work together and better perform complicated tasks. They are…
(more)
▼ "Self Reconfigurable Robots (SRRs) are a system of many simple modules that can rearrange themselves to work together and better perform complicated tasks. They are in theory more extensible then traditional robotics. We investigate the particular problem of using SRRs to both explore and survey an unknown environment. The environment is explored by using the Robots internal sensors, and surveyed by placing a limited number of static sensors at ideal locations. The advantage of SRRs is that they can adapt to terrain difficulty by adjusting the number of individual robots on the field by reorganizing its modules. We test a distributed task driven implementation based on the ALLIANCE architecture in a simulated environment. The results show that SRRs are both able to cooperatively explore the environment as well as place sensors in useful locations, getting good results.
Advisors/Committee Members: Butler, Zack.
Subjects/Keywords: Artificial intelligence; Mobile sensor network; Multi agent exploration; Multi-robot cooperation; Robotics; Self reconfiguring robotics
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APA ·
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Manager
APA (6th Edition):
Hays, J. (2010). Control of self-reconfigurable robot teams for sensor placement. (Thesis). Rochester Institute of Technology. Retrieved from https://scholarworks.rit.edu/theses/157
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Hays, Jacob. “Control of self-reconfigurable robot teams for sensor placement.” 2010. Thesis, Rochester Institute of Technology. Accessed March 06, 2021.
https://scholarworks.rit.edu/theses/157.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Hays, Jacob. “Control of self-reconfigurable robot teams for sensor placement.” 2010. Web. 06 Mar 2021.
Vancouver:
Hays J. Control of self-reconfigurable robot teams for sensor placement. [Internet] [Thesis]. Rochester Institute of Technology; 2010. [cited 2021 Mar 06].
Available from: https://scholarworks.rit.edu/theses/157.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Hays J. Control of self-reconfigurable robot teams for sensor placement. [Thesis]. Rochester Institute of Technology; 2010. Available from: https://scholarworks.rit.edu/theses/157
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Luleå University of Technology
6.
Leitner, Jürgen.
Multi-robot formations for area coverage in space applications.
Degree: 2009, Luleå University of Technology
URL: http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-51410
► This thesis presents two algorithmic implementations of multi-robot formation control for the area coverage problem. It uses a space exploration scenario, with a marsupial…
(more)
▼ This thesis presents two algorithmic implementations of multi-robot formation control for the area coverage problem. It uses a space exploration scenario, with a marsupial robot society, for tasks like mapping, habitat construction, etc. The solutions are though applicable to a wider range of applications, since area coverage is seen as one of the canonical problems in multi-robot application. Starting with an overview of multi-robot systems in space applications, both currently in use and planned for the near future, it then presents the two algorithms and their implementation in C++: (i) a vector force based implementation and (ii) a machine learning approach. The second is based on an organizational-learning oriented classifier system (OCS) introduced by Takadama an evolution of Holland’s learning classifier system (LCS). To ease the development, testing and evaluation of the control algorithms a simulator, named SMRTCTRL, was implemented during a 3 months research stay at the University of Tokyo. The vector-based control approach was tested using a multi-robot society of LEGO Mindstorms Robots and a comparison of the two algorithm was done with the help of the simulator.
Validerat; 20101217 (root)
Subjects/Keywords: Technology; space robotics; multi-robot cooperation; area coverage; machine learning; simulation; formation control; Learning; Classifier Systems (LCS); Teknik
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APA ·
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Manager
APA (6th Edition):
Leitner, J. (2009). Multi-robot formations for area coverage in space applications. (Thesis). Luleå University of Technology. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-51410
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Leitner, Jürgen. “Multi-robot formations for area coverage in space applications.” 2009. Thesis, Luleå University of Technology. Accessed March 06, 2021.
http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-51410.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Leitner, Jürgen. “Multi-robot formations for area coverage in space applications.” 2009. Web. 06 Mar 2021.
Vancouver:
Leitner J. Multi-robot formations for area coverage in space applications. [Internet] [Thesis]. Luleå University of Technology; 2009. [cited 2021 Mar 06].
Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-51410.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Leitner J. Multi-robot formations for area coverage in space applications. [Thesis]. Luleå University of Technology; 2009. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-51410
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
7.
Pippin, Charles Everett.
Trust and reputation for formation and evolution of multi-robot teams.
Degree: PhD, Computer Science, 2013, Georgia Tech
URL: http://hdl.handle.net/1853/50376
► Agents in most types of societies use information about potential partners to determine whether to form mutually beneficial partnerships. We can say that when this…
(more)
▼ Agents in most types of societies use information about potential partners to determine whether to form mutually beneficial partnerships. We can say that when this information is used to decide to form a partnership that one agent trusts another, and when agents work together for mutual benefit in a partnership, we refer to this as a form of
cooperation. Current
multi-
robot teams typically have the team's goals either explicitly or implicitly encoded into each
robot's utility function and are expected to cooperate and perform as designed. However, there are many situations in which robots may not be interested in full
cooperation, or may not be capable of performing as expected. In addition, the control strategy for robots may be fixed with no mechanism for modifying the team structure if teammate performance deteriorates. This dissertation investigates the application of trust to
multi-
robot teams. This research also addresses the problem of how
cooperation can be enabled through the use of incentive mechanisms. We posit a framework wherein
robot teams may be formed dynamically, using models of trust. These models are used to improve performance on the team, through evolution of the team dynamics. In this context, robots learn online which of their peers are capable and trustworthy to dynamically adjust their teaming strategy.
We apply this framework to
multi-
robot task allocation and patrolling domains and show that performance is improved when this approach is used on teams that may have poorly performing or untrustworthy members. The contributions of this dissertation include algorithms for applying performance characteristics of individual robots to task allocation, methods for monitoring performance of
robot team members, and a framework for modeling trust of
robot team members. This work also includes experimental results gathered using simulations and on a team of indoor mobile robots to show that the use of a trust model can improve performance on
multi-
robot teams in the patrolling task.
Advisors/Committee Members: Christensen, Henrik I. (advisor), Balch, Tucker (committee member), Dellaert, Frank (committee member), Egerstedt, Magnus (committee member), Parker, Lynne (committee member).
Subjects/Keywords: Trust; Reputation; Multi-robot cooperation; Task assignment; Robots; Evolutionary robotics; Multiagent systems
…Based Cooperation in Multi-Robot Auctions . . . . . . . . . . .
143
7.1.1
143
Motivation… …163
Cooperation based Dynamic Team Formation
in Multi-Robot Auctions… …225
xiii
LIST OF TABLES
1
Cooperation in dynamic, heterogeneous, multi-robot teams… …33
5
A taxonomy of cooperation in multi-robot teams.
. . . . . . . . . . . . . .
36
6… …multi-robot teams and robot
performance and it has been an honor to receive her time, guidance…
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APA ·
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Manager
APA (6th Edition):
Pippin, C. E. (2013). Trust and reputation for formation and evolution of multi-robot teams. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/50376
Chicago Manual of Style (16th Edition):
Pippin, Charles Everett. “Trust and reputation for formation and evolution of multi-robot teams.” 2013. Doctoral Dissertation, Georgia Tech. Accessed March 06, 2021.
http://hdl.handle.net/1853/50376.
MLA Handbook (7th Edition):
Pippin, Charles Everett. “Trust and reputation for formation and evolution of multi-robot teams.” 2013. Web. 06 Mar 2021.
Vancouver:
Pippin CE. Trust and reputation for formation and evolution of multi-robot teams. [Internet] [Doctoral dissertation]. Georgia Tech; 2013. [cited 2021 Mar 06].
Available from: http://hdl.handle.net/1853/50376.
Council of Science Editors:
Pippin CE. Trust and reputation for formation and evolution of multi-robot teams. [Doctoral Dissertation]. Georgia Tech; 2013. Available from: http://hdl.handle.net/1853/50376
Georgia Tech
8.
Viguria Jimenez, Luis Antidio.
Distributed Task Allocation Methodologies for Solving the Initial Formation Problem.
Degree: MS, Electrical and Computer Engineering, 2008, Georgia Tech
URL: http://hdl.handle.net/1853/24731
► Mobile sensor networks have been shown to be a powerful tool for enabling a number of activities that require recording of environmental parameters at various…
(more)
▼ Mobile sensor networks have been shown to be a powerful tool for enabling a number of activities that require recording of environmental parameters at various spatial and temporal distributions. These mobile sensor networks could be implemented using a team of robots, usually called robotic sensor networks.
This type of sensor network involves the coordinated control of multiple robots to achieve specific measurements separated by varied distances. In most formation measurement applications, initialization involves identifying a number of interesting sites to which mobility platforms, instrumented with a variety of sensors, are tasked. This process of determining which
instrumented
robot should be tasked to which location can be viewed as solving the task allocation problem.
Unfortunately, a centralized approach does not fit in this type of application due to the fault tolerance requirements. Moreover, as the size of the network grows, limitations in bandwidth severely limits the possibility of conveying and using global information. As such, the utilization of decentralized techniques for forming new sensor topologies and configurations is a highly desired quality of robotic sensor networks.
In this thesis, several distributed task allocation algorithms will be explained and compared in different scenarios. They are based on a market approach since our interest is not only to obtain a feasible solution, but also an efficient one. Also, an analysis of the efficiency of those algorithms using probabilistic techniques will be explained.
Finally, the task allocation algorithms will be implemented on a real system consisted of a team of six robots and integrated in a complete robotic system that considers obstacle avoidance and path planning. The results will be validated in both simulations and real experiments.
Advisors/Committee Members: Ayanna MacCalla Howard (Committee Chair), Bonnie Heck Ferri (Committee Member), Tucker Balch (Committee Member).
Subjects/Keywords: Robotics; Multi-robot cooperation; Market-based approach; Wireless sensor networks; Robotics; Detectors; Algorithms; Assignment problems (Programming)
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APA (6th Edition):
Viguria Jimenez, L. A. (2008). Distributed Task Allocation Methodologies for Solving the Initial Formation Problem. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/24731
Chicago Manual of Style (16th Edition):
Viguria Jimenez, Luis Antidio. “Distributed Task Allocation Methodologies for Solving the Initial Formation Problem.” 2008. Masters Thesis, Georgia Tech. Accessed March 06, 2021.
http://hdl.handle.net/1853/24731.
MLA Handbook (7th Edition):
Viguria Jimenez, Luis Antidio. “Distributed Task Allocation Methodologies for Solving the Initial Formation Problem.” 2008. Web. 06 Mar 2021.
Vancouver:
Viguria Jimenez LA. Distributed Task Allocation Methodologies for Solving the Initial Formation Problem. [Internet] [Masters thesis]. Georgia Tech; 2008. [cited 2021 Mar 06].
Available from: http://hdl.handle.net/1853/24731.
Council of Science Editors:
Viguria Jimenez LA. Distributed Task Allocation Methodologies for Solving the Initial Formation Problem. [Masters Thesis]. Georgia Tech; 2008. Available from: http://hdl.handle.net/1853/24731
9.
Novitzky, Michael.
TAR: Trajectory adaptation for recognition of robot tasks to improve teamwork.
Degree: PhD, Interactive Computing, 2015, Georgia Tech
URL: http://hdl.handle.net/1853/54367
► One key to more effective cooperative interaction in a multi-robot team is the ability to understand the behavior and intent of other robots. Observed teammate…
(more)
▼ One key to more effective cooperative interaction in a
multi-
robot team is the ability to understand the behavior and intent of other robots. Observed teammate action sequences can be learned to perform trajectory recognition which can be used to determine their current task. Previously, we have applied behavior histograms, hidden Markov models (HMMs), and conditional random fields (CRFs) to perform trajectory recognition as an approach to task monitoring in the absence of commu- nication. To demonstrate trajectory recognition of various autonomous vehicles, we used trajectory-based techniques for model generation and trajectory discrimination in experiments using actual data. In addition to recognition of trajectories, we in- troduced strategies, based on the honeybee’s waggle dance, in which cooperating autonomous teammates could leverage recognition during periods of communication loss. While the recognition methods were able to discriminate between the standard trajectories performed in a typical survey mission, there were inaccuracies and delays in identifying new trajectories after a transition had occurred. Inaccuracies in recog- nition lead to inefficiencies as cooperating teammates acted on incorrect data. We then introduce the Trajectory Adaptation for Recognition (TAR) framework which seeks to directly address difficulties in recognizing the trajectories of autonomous vehicles by modifying the trajectories they follow to perform them. Optimization techniques are used to modify the trajectories to increase the accuracy of recognition while also improving task objectives and maintaining vehicle dynamics. Experiments are performed which demonstrate that using trajectories optimized in this manner lead to improved recognition accuracy.
Advisors/Committee Members: Balch, Tucker R. (advisor), Egerstedt, Magnus (committee member), Christensen, Henrik I. (committee member), Collins, Thomas R. (committee member), Rehg, James M. (committee member), Weiss, Lora G. (committee member).
Subjects/Keywords: Autonomous vehicles; Underwater; Surface; Multi-robot cooperation; Behavior recognition; Trajectory recognition
…foundational
work on leveraging trajectory recognition for multi-robot cooperation. Chapter 6… …8
2.1
Multi-Robot Coordination . . . . . . . . . . . . . . . . . . . . . . .
9
2.2… …4.5
V
FOUNDATIONAL WORK: ROBOT COOPERATION THROUGH
TRAJECTORY-BASED COMMUNICATION… …168
xvii
SUMMARY
One key to more effective cooperative interaction in a multi-robot team… …multi-robot communication through behavior recognition,” in IEEE ROBIO, IEEE, 2012.
Novitzky…
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APA ·
Chicago ·
MLA ·
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CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Novitzky, M. (2015). TAR: Trajectory adaptation for recognition of robot tasks to improve teamwork. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/54367
Chicago Manual of Style (16th Edition):
Novitzky, Michael. “TAR: Trajectory adaptation for recognition of robot tasks to improve teamwork.” 2015. Doctoral Dissertation, Georgia Tech. Accessed March 06, 2021.
http://hdl.handle.net/1853/54367.
MLA Handbook (7th Edition):
Novitzky, Michael. “TAR: Trajectory adaptation for recognition of robot tasks to improve teamwork.” 2015. Web. 06 Mar 2021.
Vancouver:
Novitzky M. TAR: Trajectory adaptation for recognition of robot tasks to improve teamwork. [Internet] [Doctoral dissertation]. Georgia Tech; 2015. [cited 2021 Mar 06].
Available from: http://hdl.handle.net/1853/54367.
Council of Science Editors:
Novitzky M. TAR: Trajectory adaptation for recognition of robot tasks to improve teamwork. [Doctoral Dissertation]. Georgia Tech; 2015. Available from: http://hdl.handle.net/1853/54367
Universitat de Girona
10.
Oller Pujol, Albert.
Disseny d'agents físics: inclusió de capacitats específiques per a l'avaluació de l'eficiència d'accions.
Degree: Departament d'Electrònica, Informàtica i Automàtica, 2003, Universitat de Girona
URL: http://hdl.handle.net/10803/7723
► L'experiència de l'autor en la temàtica d'agents intel·ligents i la seva aplicació als robots que emulen el joc de futbol han donat el bagatge suficient…
(more)
▼ L'experiència de l'autor en la temàtica d'agents intel·ligents i la seva aplicació als robots que emulen el joc de futbol han donat el bagatge suficient per poder encetar i proposar la temàtica plantejada en aquesta tesi: com fer que un complicat
robot pugui treure el màxim suc de l'autoconeixement de l'estructura de control inclosa al seu propi cos físic, i així poder cooperar millor amb d'altres agents per optimitzar el rendiment a l'hora de resoldre problemes de cooperació. Per resoldre aquesta qüestió es proposa incorporar la dinàmica del cos físic en les decisions cooperatives dels agents físics unificant els móns de l'automàtica, la robòtica i la intel·ligència artificial a través de la noció de capacitat: la capacitat vista com a entitat on els enginyers de control dipositen el seu coneixement, i a la vegada la capacitat vista com la utilitat on un agent hi diposita el seu autoconeixement del seu cos físic que ha obtingut per introspecció. En aquesta tesi es presenta l'arquitectura DPAA que s'organitza seguint una jerarquia vertical en tres nivells d'abstracció o mòduls control, supervisor i agent, els quals presenten una estructura interna homogènia que facilita les tasques de disseny de l'agent. Aquests mòduls disposen d'un conjunt específic de capacitats que els permeten avaluar com seran les accions que s'executaran en un futur. En concret, al mòdul de control (baix nivell d'abstracció) les capacitats consisteixen en paràmetres que descriuen el comportament dinàmic i estàtic que resulta d'executar un controlador determinat, és a dir, encapsulen el coneixement de l'enginyer de control. Així, a través dels mecanismes de comunicació entre mòduls aquest coneixement pot anar introduint-se als mecanismes de decisió dels mòduls superiors (supervisor i agent) de forma que quan els paràmetres dinàmics i estàtics indiquin que pot haver-hi problemes a baix nivell, els mòduls superiors es poden responsabilitzar d'inhibir o no l'execució d'algunes accions. Aquest procés top-down intern d'avaluació de la viabilitat d'executar una acció determinada s'anomena procés d'introspecció. Es presenten diversos exemples per tal d'il·lustrar com es pot dissenyar un agent físic amb dinàmica pròpia utilitzant l'arquitectura DPAA com a referent. En concret, es mostra tot el procés a seguir per dissenyar un sistema real format per dos robots en formació de comboi, i es mostra com es pot resoldre el problema de la col·lisió utilitzant les capacitats a partir de les especificacions de disseny de l'arquitectura DPAA. Al cinquè capítol s'hi exposa el procés d'anàlisi i disseny en un domini més complex: un grup de robots que emulen el joc del futbol. Els resultats que s'hi mostren fan referència a l'avaluació de la validesa de l'arquitectura per resoldre el problema de la passada de la pilota. S'hi mostren diversos resultats on es veu que és possible avaluar si una passada de pilota és viable o no. Encara que aquesta possibilitat ja ha estat demostrada en altres treballs, l'aportació d'aquesta tesi està en el…
Advisors/Committee Members: [email protected] (authoremail), true (authoremailshow), Rosa, Josep Lluís de la (director).
Subjects/Keywords: Agentes inteligents; Mobile robotics; Intelligent agents; Agent cooperation; Sistemes multiagent; Cooperación de agentes; Sistemas multi-robot; Multirobot systems; Robòtica mòbil; Cooperació d'agents; Sistemes multirobot; Sistemas multi-agente; Multi-agent systems; Agents intel·ligents; Robótica móvil; 621.3; 68
Record Details
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Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Oller Pujol, A. (2003). Disseny d'agents físics: inclusió de capacitats específiques per a l'avaluació de l'eficiència d'accions. (Thesis). Universitat de Girona. Retrieved from http://hdl.handle.net/10803/7723
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Oller Pujol, Albert. “Disseny d'agents físics: inclusió de capacitats específiques per a l'avaluació de l'eficiència d'accions.” 2003. Thesis, Universitat de Girona. Accessed March 06, 2021.
http://hdl.handle.net/10803/7723.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Oller Pujol, Albert. “Disseny d'agents físics: inclusió de capacitats específiques per a l'avaluació de l'eficiència d'accions.” 2003. Web. 06 Mar 2021.
Vancouver:
Oller Pujol A. Disseny d'agents físics: inclusió de capacitats específiques per a l'avaluació de l'eficiència d'accions. [Internet] [Thesis]. Universitat de Girona; 2003. [cited 2021 Mar 06].
Available from: http://hdl.handle.net/10803/7723.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Oller Pujol A. Disseny d'agents físics: inclusió de capacitats específiques per a l'avaluació de l'eficiència d'accions. [Thesis]. Universitat de Girona; 2003. Available from: http://hdl.handle.net/10803/7723
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
. 
Open Access Theses and Dissertations
