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Brigham Young University
1.
Grosh, John Rolfes.
Multi-Human Management of a Hub-Based Colony: Efficiency and Robustness in the Cooperative Best M-of-N Task.
Degree: MS, 2019, Brigham Young University
URL: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=9544&context=etd 
► Swarm robotics is an emerging field that is expected to provide robust solutions to spatially distributed problems. Human operators will often be required to guide…
(more)
▼ Swarm robotics is an emerging field that is expected to provide robust solutions to spatially distributed problems. Human operators will often be required to guide a swarm in the fulfillment of a mission. Occasionally, large tasks may require multiple spatial swarms to cooperate in their completion. We hypothesize that when latency, bandwidth, operator dropout, and communication noise are significant factors, human organizations that promote individual initiative perform more effectively and resiliently than hierarchies in the cooperative best-m-of-n task. Simulations automating the behavior of hub-based swarm robotic agents and groups of human operators are used to evaluate this hypothesis. To make the comparisons between the team and hierarchies meaningful, we explore parameter values determining how simulated human operators behave in teams and hierarchies to optimize the performance of the respective organizations. We show that simulation results generally support the hypothesis with respect to the effect of latency and bandwidth on organizational performance.
Subjects/Keywords: swarms; robot swarms; organizational behavior; hierarchies; teams; human swarm interaction; human robot interaction
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APA (6th Edition):
Grosh, J. R. (2019). Multi-Human Management of a Hub-Based Colony: Efficiency and Robustness in the Cooperative Best M-of-N Task. (Masters Thesis). Brigham Young University. Retrieved from https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=9544&context=etd
Chicago Manual of Style (16th Edition):
Grosh, John Rolfes. “Multi-Human Management of a Hub-Based Colony: Efficiency and Robustness in the Cooperative Best M-of-N Task.” 2019. Masters Thesis, Brigham Young University. Accessed April 10, 2021.
https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=9544&context=etd.
MLA Handbook (7th Edition):
Grosh, John Rolfes. “Multi-Human Management of a Hub-Based Colony: Efficiency and Robustness in the Cooperative Best M-of-N Task.” 2019. Web. 10 Apr 2021.
Vancouver:
Grosh JR. Multi-Human Management of a Hub-Based Colony: Efficiency and Robustness in the Cooperative Best M-of-N Task. [Internet] [Masters thesis]. Brigham Young University; 2019. [cited 2021 Apr 10].
Available from: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=9544&context=etd.
Council of Science Editors:
Grosh JR. Multi-Human Management of a Hub-Based Colony: Efficiency and Robustness in the Cooperative Best M-of-N Task. [Masters Thesis]. Brigham Young University; 2019. Available from: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=9544&context=etd
Brigham Young University
2.
Blatter, Kyle Lee.
Using a Model of Temporal Latency to Improve Supervisory Control of Human-Robot Teams.
Degree: MS, 2014, Brigham Young University
URL: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=5237&context=etd
► When humans and remote robots work together on a team, the robots always interact with a human supervisor, even if the interaction is limited…
(more)
▼ When humans and remote robots work together on a team, the robots always interact with a human supervisor, even if the interaction is limited to occasional reports. Distracting a human with robotic interactions doesn't pose a problem so long as the inclusion of robots increases the team's overall effectiveness. Unfortunately, increasing the supervisor's cognitive load may decrease the team's sustainable performance to the point where robotic agents are more a liability than an asset. Present approaches resolve this problem with adaptive autonomy, where a robot changes its level of autonomy based on the supervisor's cognitive load. This thesis proposes to augment adaptive autonomy by modeling temporal latency and using this model to optimally select the temporal interval between when a supervisor is informed of a pending change and when the robot makes the change. This enables robotic team members to time their actions in response to the supervisor's cognitive load. The hypothesis is confirmed in a user-study where 26 participants interacted with a simulated search-and-rescue scenario.
Subjects/Keywords: Human-Robot Interaction; Temporal Latency; Human-Robot Teams; Artificial Intelligence; Computer Sciences
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APA (6th Edition):
Blatter, K. L. (2014). Using a Model of Temporal Latency to Improve Supervisory Control of Human-Robot Teams. (Masters Thesis). Brigham Young University. Retrieved from https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=5237&context=etd
Chicago Manual of Style (16th Edition):
Blatter, Kyle Lee. “Using a Model of Temporal Latency to Improve Supervisory Control of Human-Robot Teams.” 2014. Masters Thesis, Brigham Young University. Accessed April 10, 2021.
https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=5237&context=etd.
MLA Handbook (7th Edition):
Blatter, Kyle Lee. “Using a Model of Temporal Latency to Improve Supervisory Control of Human-Robot Teams.” 2014. Web. 10 Apr 2021.
Vancouver:
Blatter KL. Using a Model of Temporal Latency to Improve Supervisory Control of Human-Robot Teams. [Internet] [Masters thesis]. Brigham Young University; 2014. [cited 2021 Apr 10].
Available from: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=5237&context=etd.
Council of Science Editors:
Blatter KL. Using a Model of Temporal Latency to Improve Supervisory Control of Human-Robot Teams. [Masters Thesis]. Brigham Young University; 2014. Available from: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=5237&context=etd
Texas A&M University
3.
Kim, Young Ho.
Manipulating Objects using Compliant, Unactuated Tails: Modeling and Planning.
Degree: PhD, Computer Engineering, 2017, Texas A&M University
URL: http://hdl.handle.net/1969.1/161540
► Ropes and rope-like objects (e.g., chains, cords, lines, whips, or lassos) are comparatively cheap, simple, and useful in daily life. For a long time, humans…
(more)
▼ Ropes and rope-like objects (e.g., chains, cords, lines, whips, or lassos) are comparatively cheap, simple, and useful in daily life. For a long time, humans have used such structures for manipulation tasks in a qualitatively different ways such as pulling, fastening, attaching, tying, knotting, and whipping. Nevertheless, these structures have received little attention in robotics. Because they are unactuated, such structures are regarded as difficult to model, plan and control. In this dissertation, we are interested in a mobile
robot system using a flexible rope-like structure attached to its end akin to a ‘tail’.
Our goal is to investigate how mobile robots can use compliant, unactuated structures for various manipulation tasks. Robots that use a tail to manipulate objects face challenges in modeling and planning of behaviors, dynamics, and combinatorial optimization. In this dissertation, we propose several methods to deal with the difficulties of modeling and planning. In addition, we solve variants of object manipulation problems wherein multiple classes of objects are to be transported by multiple cooperative robots using ropes.
Firstly, we examine motion primitives, where the primitives are designed to simplify modeling and planning issues. We explore several sets of motion primitive where each primitive contributes some aspect lacking in the others. These primitives are forward models of the system’s behavior that predict the position and orientation of the object being manipulated within the workspace. Then, to solve manipulation problems, we design a planner that seeks a sequence of motion primitives by using a sampling-based motion planning approach coupled with a particle-based representation to treat error propagation of the motions. Our proposed planner is used to optimize motion sequences based on a specified preference over a set of objectives, such as execution time, navigation cost, or collision likelihood. The solutions deal with different preferences effectively, and we analyze the complementary nature of dynamic and quasi-static motions, showing that there exist regimes where transitions among them are indeed desirable, as reflected in the plans produced.
Secondly, we explore a variety of interesting primitives that result in new approaches for object manipulation problems. We examine ways two robots can join the ends of their tails so that a pair of conjoined robots can encircle objects leading to the advantage of greater towing capacity if they work cooperatively. However, individual robots possess the advantage of allowing for greater concurrency if objects are distant from one another. We solve a new manipulation problem for the scenarios of moving a collection of objects to goal locations with multiple robots that may form conjoined pairs. To maximize efficiency, the robots balance working as a tightly-knit sub-team with individual operation. We develop heuristics that give satisfactory solutions in reasonable time. The results we report include data from physical robots executing…
Advisors/Committee Members: Shell, Dylan A (advisor), Akleman, Ergun (committee member), Gutierrez-Osuna, Ricardo (committee member), Song, Dezhen (committee member).
Subjects/Keywords: Manipulation Planning; Motion and Path planning; Underactuated Robots; Flexible Robots; Multi-robot Task Planning; Multi-robot Path Planning; Cooperative Robot Teams
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APA (6th Edition):
Kim, Y. H. (2017). Manipulating Objects using Compliant, Unactuated Tails: Modeling and Planning. (Doctoral Dissertation). Texas A&M University. Retrieved from http://hdl.handle.net/1969.1/161540
Chicago Manual of Style (16th Edition):
Kim, Young Ho. “Manipulating Objects using Compliant, Unactuated Tails: Modeling and Planning.” 2017. Doctoral Dissertation, Texas A&M University. Accessed April 10, 2021.
http://hdl.handle.net/1969.1/161540.
MLA Handbook (7th Edition):
Kim, Young Ho. “Manipulating Objects using Compliant, Unactuated Tails: Modeling and Planning.” 2017. Web. 10 Apr 2021.
Vancouver:
Kim YH. Manipulating Objects using Compliant, Unactuated Tails: Modeling and Planning. [Internet] [Doctoral dissertation]. Texas A&M University; 2017. [cited 2021 Apr 10].
Available from: http://hdl.handle.net/1969.1/161540.
Council of Science Editors:
Kim YH. Manipulating Objects using Compliant, Unactuated Tails: Modeling and Planning. [Doctoral Dissertation]. Texas A&M University; 2017. Available from: http://hdl.handle.net/1969.1/161540
University of Manitoba
4.
Fiawoo, Seth.
Independent activity and local opportunity for dynamic robot team management in dangerous domains.
Degree: Computer Science, 2019, University of Manitoba
URL: http://hdl.handle.net/1993/34202
► Dangerous domains are a challenge for teams of heterogeneous robots, since robot losses may involve the loss of particular skills that might be rare in…
(more)
▼ Dangerous domains are a challenge for
teams of heterogeneous robots, since
robot losses may involve the loss of particular skills that might be rare in the domain.
Previous research has resulted in a framework that allows
teams to rebalance and
recruit from the environment.
However, there is currently no consideration of
situations where agents may at times provide more useful work globally by not joining
a team, or situations where it might be discovered that types of work might be
associated with a given locality. My thesis extends this framework to give agents
the ability to refuse to join
teams and work for times on their own, by considering
current satisfaction in the use of their skills, the likely rarity of their skills, and the
distribution of places those skills are used in the environment. I examine this work
in a simulated Urban Search and Rescue domain. My results show that in scenarios
where a robot’s special skills are rare and tasks requiring those skills are only available
at a few fixed locations in the environment, a
robot is more useful if it suspends its
team commitment to make itself available to all
teams.
Advisors/Committee Members: Anderson, John (Computer Science) (supervisor), Scuse, David (Computer Science) McNeill, Dean (Electrical and Computer Engineering) (examiningcommittee).
Subjects/Keywords: Robotics; Multi-Robot Systems; Urban Search and Rescue; Heterogeneous Robot Teams; Robot Satisfaction; Rare Skills; Recruitment
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APA (6th Edition):
Fiawoo, S. (2019). Independent activity and local opportunity for dynamic robot team management in dangerous domains. (Masters Thesis). University of Manitoba. Retrieved from http://hdl.handle.net/1993/34202
Chicago Manual of Style (16th Edition):
Fiawoo, Seth. “Independent activity and local opportunity for dynamic robot team management in dangerous domains.” 2019. Masters Thesis, University of Manitoba. Accessed April 10, 2021.
http://hdl.handle.net/1993/34202.
MLA Handbook (7th Edition):
Fiawoo, Seth. “Independent activity and local opportunity for dynamic robot team management in dangerous domains.” 2019. Web. 10 Apr 2021.
Vancouver:
Fiawoo S. Independent activity and local opportunity for dynamic robot team management in dangerous domains. [Internet] [Masters thesis]. University of Manitoba; 2019. [cited 2021 Apr 10].
Available from: http://hdl.handle.net/1993/34202.
Council of Science Editors:
Fiawoo S. Independent activity and local opportunity for dynamic robot team management in dangerous domains. [Masters Thesis]. University of Manitoba; 2019. Available from: http://hdl.handle.net/1993/34202
University of Toronto
5.
Daniluk, Steven.
An Advice Mechanism for Heterogeneous Robot Teams.
Degree: 2017, University of Toronto
URL: http://hdl.handle.net/1807/79051
► The use of reinforcement learning for robot teams has enabled complex tasks to be performed, but at the cost of requiring a large amount of…
(more)
▼ The use of reinforcement learning for robot teams has enabled complex tasks to be performed, but at the cost of requiring a large amount of exploration. Exchanging information between robots in the form of advice is one method to accelerate performance improvements. This thesis presents an advice mechanism for robot teams that utilizes advice from heterogeneous advisers via a method guaranteeing convergence to an optimal policy. The presented mechanism has the capability to use multiple advisers at each time step, and decide when advice should be requested and accepted, such that the use of advice decreases over time. Additionally, collective collaborative, and cooperative behavioural algorithms are integrated into a robot team architecture, to create a new framework that provides fault tolerance and modularity for robot teams.
M.A.S.
Advisors/Committee Members: Emami, Mohammed R, Aerospace Science and Engineering.
Subjects/Keywords: Advice; Multi Agent Systems; Reinforcement Learning; Robot Teams; 0538
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APA (6th Edition):
Daniluk, S. (2017). An Advice Mechanism for Heterogeneous Robot Teams. (Masters Thesis). University of Toronto. Retrieved from http://hdl.handle.net/1807/79051
Chicago Manual of Style (16th Edition):
Daniluk, Steven. “An Advice Mechanism for Heterogeneous Robot Teams.” 2017. Masters Thesis, University of Toronto. Accessed April 10, 2021.
http://hdl.handle.net/1807/79051.
MLA Handbook (7th Edition):
Daniluk, Steven. “An Advice Mechanism for Heterogeneous Robot Teams.” 2017. Web. 10 Apr 2021.
Vancouver:
Daniluk S. An Advice Mechanism for Heterogeneous Robot Teams. [Internet] [Masters thesis]. University of Toronto; 2017. [cited 2021 Apr 10].
Available from: http://hdl.handle.net/1807/79051.
Council of Science Editors:
Daniluk S. An Advice Mechanism for Heterogeneous Robot Teams. [Masters Thesis]. University of Toronto; 2017. Available from: http://hdl.handle.net/1807/79051
University of Manitoba
6.
Nagy, Geoff.
Active recruitment in dynamic teams of heterogeneous robots.
Degree: Computer Science, 2016, University of Manitoba
URL: http://hdl.handle.net/1993/31917
► Using teams of autonomous, heterogeneous robots to operate in dangerous environments has a number of advantages. Among these are cost-effectiveness and the ability to spread…
(more)
▼ Using
teams of autonomous, heterogeneous robots to operate in dangerous environments has a number of advantages. Among these are cost-effectiveness and the ability to spread out skills among team members. The nature of operating in dangerous domains means that the risk of loss is higher –
teams will often lose members and must acquire new ones. In this work, I explore various recruitment strategies for the purpose of improving an existing framework for team management. My additions allow robots to more actively acquire new
teams members and assign tasks among other robots on a team without the intervention of a team leader. I evaluate this framework in simulated post-disaster environments where the risk of
robot loss is high and communications are often unreliable. My results show that in many scenarios, active recruitment strategies provide significant performance benefits.
Advisors/Committee Members: Anderson, John (Computer Science) (supervisor), McNeill, Dean (Electrical and Computer Engineering) Scuse, David (Computer Science) (examiningcommittee).
Subjects/Keywords: Robotics; Urban Search and Rescue; Multi-Agent Robotics; Heterogeneous Robot Teams; Recruitment
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APA (6th Edition):
Nagy, G. (2016). Active recruitment in dynamic teams of heterogeneous robots. (Masters Thesis). University of Manitoba. Retrieved from http://hdl.handle.net/1993/31917
Chicago Manual of Style (16th Edition):
Nagy, Geoff. “Active recruitment in dynamic teams of heterogeneous robots.” 2016. Masters Thesis, University of Manitoba. Accessed April 10, 2021.
http://hdl.handle.net/1993/31917.
MLA Handbook (7th Edition):
Nagy, Geoff. “Active recruitment in dynamic teams of heterogeneous robots.” 2016. Web. 10 Apr 2021.
Vancouver:
Nagy G. Active recruitment in dynamic teams of heterogeneous robots. [Internet] [Masters thesis]. University of Manitoba; 2016. [cited 2021 Apr 10].
Available from: http://hdl.handle.net/1993/31917.
Council of Science Editors:
Nagy G. Active recruitment in dynamic teams of heterogeneous robots. [Masters Thesis]. University of Manitoba; 2016. Available from: http://hdl.handle.net/1993/31917
University of Oxford
7.
Ward, Paul A.
Coordinated search with unmanned aerial vehicle teams.
Degree: PhD, 2013, University of Oxford
URL: http://ora.ox.ac.uk/objects/uuid:37407b90-51e7-4814-936c-4817ea0c711f
;
https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.627789
► Advances in mobile robot technology allow an increasing variety of applications to be imagined, including: search and rescue, exploration of unknown areas and working with…
(more)
▼ Advances in mobile robot technology allow an increasing variety of applications to be imagined, including: search and rescue, exploration of unknown areas and working with hazardous materials. State of the art robots are able to behave autonomously and without direct human control, using on-board devices to perceive, navigate and reason about the world. Unmanned Aerial Vehicles (UAVs) are particularly well suited to performing advanced sensing tasks by moving rapidly through the environment irrespective of the terrain. Deploying groups of mobile robots offers advantages, such as robustness to individual failures and a reduction in task completion time. However, to operate efficiently these teams require specific approaches to enable the individual agents to cooperate. This thesis proposes coordinated approaches to search scenarios for teams of UAVs. The primary application considered is Wilderness Search and Rescue (WiSaR), although the techniques developed are applicable elsewhere. A novel frontier-based search approach is developed for rotor-craft UAVs, taking advantage of available terrain information to minimise altitude changes during flight. This is accompanied by a lightweight coordination mechanism to enable cooperative behaviour with minimal additional overhead. The concept of a team rendezvous is introduced, at which all team members attend to exchange data. This also provides an ideal opportunity to create a comprehensive team solution to relay newly gathered data to a base station. Furthermore, the delay between sensing and the acquired data becoming available to mission commanders is analysed and a technique proposed for adapting the team to meet a latency requirement. These approaches are evaluated and characterised experimentally through simulation. Coordinated frontier search is shown to outperform greedy walk methods, reducing redundant sensing coverage using only a minimal coordination protocol. Combining the search, rendezvous and relay techniques provides a holistic approach to the deployment of UAV teams, meeting mission objectives without extensive pre-configuration.
Subjects/Keywords: 629.8; Software engineering; Computing; Applications and algorithms; Robotics; unmanned aerial vehicles; robotic search; search and rescue; robot teams; multi-robot systems; multi-robot coordination
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APA (6th Edition):
Ward, P. A. (2013). Coordinated search with unmanned aerial vehicle teams. (Doctoral Dissertation). University of Oxford. Retrieved from http://ora.ox.ac.uk/objects/uuid:37407b90-51e7-4814-936c-4817ea0c711f ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.627789
Chicago Manual of Style (16th Edition):
Ward, Paul A. “Coordinated search with unmanned aerial vehicle teams.” 2013. Doctoral Dissertation, University of Oxford. Accessed April 10, 2021.
http://ora.ox.ac.uk/objects/uuid:37407b90-51e7-4814-936c-4817ea0c711f ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.627789.
MLA Handbook (7th Edition):
Ward, Paul A. “Coordinated search with unmanned aerial vehicle teams.” 2013. Web. 10 Apr 2021.
Vancouver:
Ward PA. Coordinated search with unmanned aerial vehicle teams. [Internet] [Doctoral dissertation]. University of Oxford; 2013. [cited 2021 Apr 10].
Available from: http://ora.ox.ac.uk/objects/uuid:37407b90-51e7-4814-936c-4817ea0c711f ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.627789.
Council of Science Editors:
Ward PA. Coordinated search with unmanned aerial vehicle teams. [Doctoral Dissertation]. University of Oxford; 2013. Available from: http://ora.ox.ac.uk/objects/uuid:37407b90-51e7-4814-936c-4817ea0c711f ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.627789
Washington University in St. Louis
8.
Karulf, Erik.
Mixed-Mode Control Interfaces of Mobile Robot Teams.
Degree: MA, Computer Science and Engineering, 2011, Washington University in St. Louis
URL: https://openscholarship.wustl.edu/etd/452
► We propose applying various techniques and ideas, from video games, to the design of a task-level control interface for teams of mobile robots. The control…
(more)
▼ We propose applying various techniques and ideas, from video games, to the design of a task-level control interface for
teams of mobile robots. The control interface, which visually resembles a video game and contains the functional elements of traditional
robot control software, was designed and implemented using the ROS software framework. Unlike previous interfaces in the literature, our interface allows the user to control more than one
robot and supports "sliding autonomy." This application allows the user to assign differing levels of independence to the robots dynamically, dependent on the situation. We present an overview of the implemented system, a discussion of its various elements, and identify results from some of our preliminary user studies.
Advisors/Committee Members: William Smart.
Subjects/Keywords: Engineering, Robotics; sliding autonomy; video game; mixed mode; robotics; robot teams; human robot interaction; human computer interaction; RIDE; robot interactive display environment; real-time strategy
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APA ·
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Manager
APA (6th Edition):
Karulf, E. (2011). Mixed-Mode Control Interfaces of Mobile Robot Teams. (Thesis). Washington University in St. Louis. Retrieved from https://openscholarship.wustl.edu/etd/452
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):
Karulf, Erik. “Mixed-Mode Control Interfaces of Mobile Robot Teams.” 2011. Thesis, Washington University in St. Louis. Accessed April 10, 2021.
https://openscholarship.wustl.edu/etd/452.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Karulf, Erik. “Mixed-Mode Control Interfaces of Mobile Robot Teams.” 2011. Web. 10 Apr 2021.
Vancouver:
Karulf E. Mixed-Mode Control Interfaces of Mobile Robot Teams. [Internet] [Thesis]. Washington University in St. Louis; 2011. [cited 2021 Apr 10].
Available from: https://openscholarship.wustl.edu/etd/452.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Karulf E. Mixed-Mode Control Interfaces of Mobile Robot Teams. [Thesis]. Washington University in St. Louis; 2011. Available from: https://openscholarship.wustl.edu/etd/452
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
University of Minnesota
9.
Nanjanath, Maitreyi.
Repeated auctions for robust task execution by a robot team.
Degree: PhD, Computer science, 2010, University of Minnesota
URL: http://purl.umn.edu/100750
► We study the use of auction based methods for allocation of tasks in a team of cooperative robots. The thesis makes contributions to this topic…
(more)
▼ We study the use of auction based methods for allocation of tasks in a team of cooperative robots. The thesis makes contributions to this topic in three main directions:
1. We propose a novel auction algorithm for task allocation to robots that is specially suited for dynamic environments where unexpected obstacles, loss of communication, and other delays may prevent a robot from completing its allocated tasks. We present theoretical properties of the algorithm and experimental results, obtained both in simulation and using real robots in a variety of environments.
2. We extend combinatorial auctions for tasks that have precedence constraints and that require robots to visit task locations within assigned time windows. We present experimental results obtained in simulation and compare the allocation generated by the combinatorial auction algorithm with allocations generated by other auction algorithms.
3. We apply auctions to the RoboCup search and rescue scenario, a city-level simulation of a disaster situation where heterogeneous agents have to clear debris, extinguish fires, and rescue civilians. We propose an auction mechanism to coordinate the agents, and show its effectiveness.
Subjects/Keywords: Auctions; Multi-robot Teams; Task Allocation; Computer Science
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APA (6th Edition):
Nanjanath, M. (2010). Repeated auctions for robust task execution by a robot team. (Doctoral Dissertation). University of Minnesota. Retrieved from http://purl.umn.edu/100750
Chicago Manual of Style (16th Edition):
Nanjanath, Maitreyi. “Repeated auctions for robust task execution by a robot team.” 2010. Doctoral Dissertation, University of Minnesota. Accessed April 10, 2021.
http://purl.umn.edu/100750.
MLA Handbook (7th Edition):
Nanjanath, Maitreyi. “Repeated auctions for robust task execution by a robot team.” 2010. Web. 10 Apr 2021.
Vancouver:
Nanjanath M. Repeated auctions for robust task execution by a robot team. [Internet] [Doctoral dissertation]. University of Minnesota; 2010. [cited 2021 Apr 10].
Available from: http://purl.umn.edu/100750.
Council of Science Editors:
Nanjanath M. Repeated auctions for robust task execution by a robot team. [Doctoral Dissertation]. University of Minnesota; 2010. Available from: http://purl.umn.edu/100750
University of Waterloo
10.
Peasgood, Mike.
Cooperative Navigation for Teams of Mobile Robots.
Degree: 2008, University of Waterloo
URL: http://hdl.handle.net/10012/3575
► Teams of mobile robots have numerous applications, such as space exploration, underground mining, warehousing, and building security. Multi-robot teams can provide a number of practical…
(more)
▼ Teams of mobile robots have numerous applications, such as space exploration,
underground mining, warehousing, and building security. Multi-robot teams can provide a number of practical benefits in such applications, including simultaneous presence in multiple locations, improved system performance, and greater robustness and redundancy compared to individual robots. This thesis addresses three aspects of coordination and navigation for teams of mobile robots: localization, the estimation of the position of each robot in the environment; motion planning, the process of finding collision-free trajectories through the environment; and task allocation, the selection of appropriate goals to be assigned to each robot. Each of these topics are
investigated in the context of many robots working in a common environment.
A particle-filter based system for cooperative global localization is presented.
The system combines the sensor data from three robots, including measurements of the distances between robots, to cooperatively estimate the global position of each robot in the environment. The method is developed for a single triad of robots, then extended to larger groups of robots. The algorithm is demonstrated in a simulation of robots equipped with only simple range sensors, and is shown to successfully achieve global localization of robots that are unable to localize using only their own local sensor data.
Motion planning is investigated for large teams of robots operating in tunnel and corridor environments, where coordinated planning is often required to avoid collision or deadlock conditions. A complete and scalable motion planning algorithm is presented and evaluated in simulation with up to 150 robots. In contrast to popular decoupled approaches to motion planning (which cannot guarantee a solution), this algorithm uses a multi-phase approach to create and maintain obstacle-free paths through a graph representation of the environment. The resulting plan is a set of collision-free trajectories, guaranteeing that every robot will reach its goal.
The problem of task allocation is considered in the same type of tunnel and corridor environments, where tasks are defined as locations in the environment that must be visited by one of the robots in the team. To find efficient solutions to the task allocation problem, an optimization approach
is used to generate potential task assignments, and select the best solution.
The multi-phase motion planner is applied within this system as an efficient method of evaluating potential task assignments for many robots in a large environment. The algorithm is evaluated in simulations with up to 20 robots in a map of large underground mine.
A real-world implementation of 3 physical robots was used to demonstrate the implementation of the multi-phase motion planning and task allocation systems. A centralized motion planning and task allocation system was developed, incorporating localization and time-dependent trajectory tracking on the robot processors, enabling cooperative…
Subjects/Keywords: mobile robots; robot navigation; multi-robot teams; motion planning; localization; task allocation
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APA (6th Edition):
Peasgood, M. (2008). Cooperative Navigation for Teams of Mobile Robots. (Thesis). University of Waterloo. Retrieved from http://hdl.handle.net/10012/3575
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):
Peasgood, Mike. “Cooperative Navigation for Teams of Mobile Robots.” 2008. Thesis, University of Waterloo. Accessed April 10, 2021.
http://hdl.handle.net/10012/3575.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Peasgood, Mike. “Cooperative Navigation for Teams of Mobile Robots.” 2008. Web. 10 Apr 2021.
Vancouver:
Peasgood M. Cooperative Navigation for Teams of Mobile Robots. [Internet] [Thesis]. University of Waterloo; 2008. [cited 2021 Apr 10].
Available from: http://hdl.handle.net/10012/3575.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Peasgood M. Cooperative Navigation for Teams of Mobile Robots. [Thesis]. University of Waterloo; 2008. Available from: http://hdl.handle.net/10012/3575
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Brigham Young University
11.
Anderson, Jeffrey D.
Methods and Metrics for Human Control of Multi-Robot Teams.
Degree: MS, 2006, Brigham Young University
URL: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=1819&context=etd
► Human-controlled robots are utilized in many situations and such use is becoming widespread. This thesis details research that allows a single human to interact with…
(more)
▼ Human-controlled robots are utilized in many situations and such use is becoming widespread. This thesis details research that allows a single human to interact with a team of robots performing tasks that require cooperation. The research provides insight into effective interaction design methods and appropriate interface techniques. The use of team-level autonomy is shown to decrease human workload while simultaneously improving individual robot efficiency and robot-team cooperation. An indoor human-robot interaction testbed was developed at the BYU MAGICC Lab to facilitate experimentation. The testbed consists of eight robots equipped with wireless modems, a field on which the robots move, an overhead camera and image processing software which tracks robot position and heading, a simulator which allows development and testing without hardware utilization and a graphical user interface which enables human control of either simulated or hardware robots. The image processing system was essential for effective robot hardware operation and is described in detail. The system produced accurate robot position and heading information 30 times per second for a maximum of 12 robots, was relatively insensitive to lighting conditions and was easily reconfigurable. The completed testbed was utilized to create a game for testing human-robot interaction schemes. The game required a human controlling three robots to find and tag three robot opponents in a maze. Finding an opponent could be accomplished by individual robots, but tagging an opponent required cooperation between at least two robots. The game was played by 11 subjects in five different autonomy modes ranging from limited robot autonomy to advanced individual autonomy with basic team-level autonomy. Participants were interrupted during the game by a secondary spatial reasoning task which prevented them from interacting with the robots for short periods of time. Robot performance during that interruption provided a measure of both individual and team neglect tolerance. Individual robot neglect tolerance and performance did not directly correspond to those quantities at the team level. The interaction mode with the highest levels of individual and team autonomy was most effective; it minimized game time and human workload and maximized team neglect tolerance.
Subjects/Keywords: robot; robot teams; robot team; human robot interaction; adjustable autonomy; robot control interface; computer vision; metrics; graphical user interface; GUI; MAGICC; Mechanical Engineering
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APA (6th Edition):
Anderson, J. D. (2006). Methods and Metrics for Human Control of Multi-Robot Teams. (Masters Thesis). Brigham Young University. Retrieved from https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=1819&context=etd
Chicago Manual of Style (16th Edition):
Anderson, Jeffrey D. “Methods and Metrics for Human Control of Multi-Robot Teams.” 2006. Masters Thesis, Brigham Young University. Accessed April 10, 2021.
https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=1819&context=etd.
MLA Handbook (7th Edition):
Anderson, Jeffrey D. “Methods and Metrics for Human Control of Multi-Robot Teams.” 2006. Web. 10 Apr 2021.
Vancouver:
Anderson JD. Methods and Metrics for Human Control of Multi-Robot Teams. [Internet] [Masters thesis]. Brigham Young University; 2006. [cited 2021 Apr 10].
Available from: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=1819&context=etd.
Council of Science Editors:
Anderson JD. Methods and Metrics for Human Control of Multi-Robot Teams. [Masters Thesis]. Brigham Young University; 2006. Available from: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=1819&context=etd
12.
Kapoutsis, Athanasios.
Towards a fully autonomous and cooperative deployment of multi-robot teams for exploration and coverage in unknown or partially known environments.
Degree: 2017, Democritus University of Thrace (DUTH); Δημοκρίτειο Πανεπιστήμιο Θράκης (ΔΠΘ)
URL: http://hdl.handle.net/10442/hedi/42416
► In this thesis we deal with the problem of navigating a team of robots in both known and unknown environments, so as the mission's objectives…
(more)
▼ In this thesis we deal with the problem of navigating a team of robots in both known and unknown environments, so as the mission's objectives to be fulfilled. The structure of this thesis is divided into two main pillars. In the first pillar we deal with the problem of determining an optimal path involving all points of a given area of interest (offline), while avoiding sub-areas with specific characteristics (e.g. obstacles, no-fly zones, etc.). This problem, which is usually referred as multi-robot coverage path planning (mCPP), has been proven to be NP-hard. Currently, existing approaches produce polynomial algorithms that are able to only approximate the minimum covering time. In chapter 3, a novel methodology is proposed, capable of producing such optimal paths in approximately polynomial time. In the heart of the proposed approach lies the DARP algorithm, which divides the terrain into a number of equal areas each corresponding to a specific robot, in such a way to guarantee: complete coverage, non-backtracking solution, minimum coverage path, while at the same time does not need any preparatory stage. In the second pillar of this thesis, we design algorithms capable of navigating team of robots without any prior knowledge. More specifically, we deal with problems where the objectives of the multi-robot system can be transformed to the optimization of a specifically defined cost-function. Due to the unknown environment, unknown robots' dynamics, sensor nonlinearities, etc., the analytic form of the cost-function is not available a priori. Therefore, standard gradient descent-like algorithms are not applicable to these problems. In chapter 4, we first show that optimal one-step-ahead exploration schemes that are based on a transformed optimization criterion can lead to highly efficient solutions to the multi-robot exploration. As, however, optimal one-step-ahead solutions to the transformed optimization criterion cannot be practically obtained using conventional optimization schemes, the second step in our approach is to combine the use of the transformed optimization criterion with the Cognitive Adaptive Optimization (CAO): CAO is a practicably feasible computational methodology which adaptively provides an accurate approximation of the optimal one-step-ahead solutions. This combination results in a multi-robot exploration scheme which is both practically implementable and provides with quite efficient solutions as it is shown both by theoretical analysis and, most importantly, by extensive simulation experiments and real-life underwater sea-floor mapping experiments in the Leixoes port, Portugal. Finally, in chapter 5, we propose a distributed algorithm applicable to a quite large class of practical multi-robot applications. In such multi-robot applications, the user-defined objectives of the mission can be casted as a general optimization problem, without explicit guidelines of the sub-tasks per different robot. A novel distributed methodology is proposed, based on the CAO algorithm (as proposed on the…
Subjects/Keywords: Αυτόνομη πλοήγηση; Ομάδες ρομπότ; Βελτιστοποίηση συνάρτησης κόστους; Κάλυψη περιοχών; Χαρτογράφηση; Προσαρμοστικά συστήματα; Ελάχιστα μονοπάτια κάλυψης; Θαλάσσια ρομποτικά συστήματα; Autonomous navigation; Multi-robot teams; Cost function optimization; Multi-robot coverage; Multi-robot mapping; Learning and adaptive system; Minimum coverage paths; Marine robotics
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APA (6th Edition):
Kapoutsis, A. (2017). Towards a fully autonomous and cooperative deployment of multi-robot teams for exploration and coverage in unknown or partially known environments. (Thesis). Democritus University of Thrace (DUTH); Δημοκρίτειο Πανεπιστήμιο Θράκης (ΔΠΘ). Retrieved from http://hdl.handle.net/10442/hedi/42416
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):
Kapoutsis, Athanasios. “Towards a fully autonomous and cooperative deployment of multi-robot teams for exploration and coverage in unknown or partially known environments.” 2017. Thesis, Democritus University of Thrace (DUTH); Δημοκρίτειο Πανεπιστήμιο Θράκης (ΔΠΘ). Accessed April 10, 2021.
http://hdl.handle.net/10442/hedi/42416.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Kapoutsis, Athanasios. “Towards a fully autonomous and cooperative deployment of multi-robot teams for exploration and coverage in unknown or partially known environments.” 2017. Web. 10 Apr 2021.
Vancouver:
Kapoutsis A. Towards a fully autonomous and cooperative deployment of multi-robot teams for exploration and coverage in unknown or partially known environments. [Internet] [Thesis]. Democritus University of Thrace (DUTH); Δημοκρίτειο Πανεπιστήμιο Θράκης (ΔΠΘ); 2017. [cited 2021 Apr 10].
Available from: http://hdl.handle.net/10442/hedi/42416.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Kapoutsis A. Towards a fully autonomous and cooperative deployment of multi-robot teams for exploration and coverage in unknown or partially known environments. [Thesis]. Democritus University of Thrace (DUTH); Δημοκρίτειο Πανεπιστήμιο Θράκης (ΔΠΘ); 2017. Available from: http://hdl.handle.net/10442/hedi/42416
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Universiteit Utrecht
13.
Giele, T.R.A.
A Framework for Dynamic Task Allocation - Instantiated for Cognitive Task Load-based Adaptive Automation.
Degree: 2013, Universiteit Utrecht
URL: http://dspace.library.uu.nl:8080/handle/1874/281527
► As technology advances, artificial agents such as robots are increasingly deployed to work on tasks in complex and dynamically changing environments. Often these sophisticated robots…
(more)
▼ As technology advances, artificial agents such as robots are increasingly deployed to work on tasks in complex and dynamically changing environments. Often these sophisticated robots work together with human agents in a team. Because of these developments, the need for research into cooperation in mixed human-
robot teams is increasing. An important aspect of cooperation is task allocation. Static task allocation is often not sufficient for dynamically changing environments, so dynamic task allocation is needed.
In this thesis, a high-level framework for dynamic task allocation, aimed at improving team performance in mixed human-
robot teams is presented. The framework details how context information can be used to find possible role assignments for actors and to evaluate these role assignments. The framework describes the important concepts in context information that influence team performance and can be used to dynamically allocate tasks. Secondly, the framework details how to use these role assignments with evaluation to find the optimal task allocation for a team.
One of the important factors in context information is the cognitive task load of a human agent. Cognitive task load is an important predictor of human performance and is dependent on the tasks that are assigned to a human. The framework is used as a base for designing a model for adaptive automation. The model takes into account the cognitive task load of an operator and the coordination costs of switching to a new task allocation. Based on these two context factors it finds the optimal level of autonomy of a
robot, separately for all tasks that need to be executed.
This model is instantiated for a single human agent cooperating with a single
robot in the urban search and rescue domain. A small experiment is conducted aimed at testing the model. Some encouraging results are found: the cognitive task load of participants mostly reacted to the model as intended. Furthermore, important focus points for improving the model are identified such as taking into account more context information, e.g. capabilities (human vs.
robot) and preferences.
Advisors/Committee Members: Meyer, J-J. Ch., Mioch, T..
Subjects/Keywords: Dynamic task allocation; cognitive task load; cognitive load; task load; workload; CTL; adaptive automation; human-robot teams; cooperation; framework; team performance; task allocation; role assignment; team; urban search and rescue.
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APA (6th Edition):
Giele, T. R. A. (2013). A Framework for Dynamic Task Allocation - Instantiated for Cognitive Task Load-based Adaptive Automation. (Masters Thesis). Universiteit Utrecht. Retrieved from http://dspace.library.uu.nl:8080/handle/1874/281527
Chicago Manual of Style (16th Edition):
Giele, T R A. “A Framework for Dynamic Task Allocation - Instantiated for Cognitive Task Load-based Adaptive Automation.” 2013. Masters Thesis, Universiteit Utrecht. Accessed April 10, 2021.
http://dspace.library.uu.nl:8080/handle/1874/281527.
MLA Handbook (7th Edition):
Giele, T R A. “A Framework for Dynamic Task Allocation - Instantiated for Cognitive Task Load-based Adaptive Automation.” 2013. Web. 10 Apr 2021.
Vancouver:
Giele TRA. A Framework for Dynamic Task Allocation - Instantiated for Cognitive Task Load-based Adaptive Automation. [Internet] [Masters thesis]. Universiteit Utrecht; 2013. [cited 2021 Apr 10].
Available from: http://dspace.library.uu.nl:8080/handle/1874/281527.
Council of Science Editors:
Giele TRA. A Framework for Dynamic Task Allocation - Instantiated for Cognitive Task Load-based Adaptive Automation. [Masters Thesis]. Universiteit Utrecht; 2013. Available from: http://dspace.library.uu.nl:8080/handle/1874/281527
University of Tennessee – Knoxville
14.
Johnson, Corey Michael.
Peer Attention Modeling with Head Pose Trajectory Tracking Using Temporal Thermal Maps.
Degree: MS, Computer Science, 2018, University of Tennessee – Knoxville
URL: https://trace.tennessee.edu/utk_gradthes/4980
► Human head pose trajectories can represent a wealth of implicit information such as areas of attention, body language, potential future actions, and more. This…
(more)
▼ Human head pose trajectories can represent a wealth of implicit information such as areas of attention, body language, potential future actions, and more. This signal is of high value for use in Human-
Robot teams due to the implicit information encoded within it. Although team-based tasks require both explicit and implicit communication among peers, large team sizes, noisy environments, distance, and mission urgency can inhibit the frequency and quality of explicit communication. The goal for this thesis is to improve the capabilities of Human-
Robot teams by making use of implicit communication. In support of this goal, the following hypotheses are investigated:
● Implicit information about a human subject’s attention can be reliably extracted with software by tracking the subject’s head pose trajectory, and
● Attention can be represented with a 3D temporal thermal map for implicitly determining a subject’s Objects Of Interest (OOIs).
These hypotheses are investigated by experimentation with a new tool for peer attention modeling by Head Pose Trajectory Tracking using Temporal Thermal Maps (HPT4M). This system allows a
robot Observing Agent (OA) to view a human teammate and temporally model their Regions Of Interest (ROIs) by generating a 3D thermal map based on the subject’s head pose trajectory.
The findings in this work are that HPT4M can be used by an OA to contribute to a team search mission by implicitly discovering a human subject’s OOI type, mapping the item’s location within the searched space, and labeling the item’s discovery state. Furthermore, this work discusses some of the discovered limitations of this technology and hurdles that must be overcome before implementing HPT4M in a reliable real-world system.
Finally, the techniques used in this work are provided as an open source
Robot Operating System (ROS) node at github.com/HPT4M with the intent that it will aid other developers in the robotics community with improving Human-
Robot teams. Furthermore, the proofs of principle and tools developed in this thesis are a foundational platform for deeper investigation in future research on improving Human-
Robot teams via implicit communication techniques.
Advisors/Committee Members: Lynne E. Parker, Jens Gregor, Audris Mockus.
Subjects/Keywords: Human-Robot Teams; Head Pose Tracking; Attention Modeling; Salience; Artificial Intelligence and Robotics; Cognition and Perception; Graphics and Human Computer Interfaces; Social Psychology
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APA (6th Edition):
Johnson, C. M. (2018). Peer Attention Modeling with Head Pose Trajectory Tracking Using Temporal Thermal Maps. (Thesis). University of Tennessee – Knoxville. Retrieved from https://trace.tennessee.edu/utk_gradthes/4980
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):
Johnson, Corey Michael. “Peer Attention Modeling with Head Pose Trajectory Tracking Using Temporal Thermal Maps.” 2018. Thesis, University of Tennessee – Knoxville. Accessed April 10, 2021.
https://trace.tennessee.edu/utk_gradthes/4980.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Johnson, Corey Michael. “Peer Attention Modeling with Head Pose Trajectory Tracking Using Temporal Thermal Maps.” 2018. Web. 10 Apr 2021.
Vancouver:
Johnson CM. Peer Attention Modeling with Head Pose Trajectory Tracking Using Temporal Thermal Maps. [Internet] [Thesis]. University of Tennessee – Knoxville; 2018. [cited 2021 Apr 10].
Available from: https://trace.tennessee.edu/utk_gradthes/4980.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Johnson CM. Peer Attention Modeling with Head Pose Trajectory Tracking Using Temporal Thermal Maps. [Thesis]. University of Tennessee – Knoxville; 2018. Available from: https://trace.tennessee.edu/utk_gradthes/4980
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
15.
Ιωαννίδης, Κωνσταντίνος.
Νέες τεχνικές χάραξης πορείας ρομπότ και ρομποτικής όρασης.
Degree: 2013, Democritus University of Thrace (DUTH); Δημοκρίτειο Πανεπιστήμιο Θράκης (ΔΠΘ)
URL: http://hdl.handle.net/10442/hedi/30497
► The research field of robotics is one of the most wide-spread and vibrant scientific area. Different types of robots are used to fulfill numerous tasks…
(more)
▼ The research field of robotics is one of the most wide-spread and vibrant scientific area. Different types of robots are used to fulfill numerous tasks while they are equipped with a variety of sensors. The appropriate usage of the available resources and sensors of a robotic system constitutes a crucial factor for retrieving valuable information related to the status of the surrounding environment. The sensors are the means through which the robot can perceive and interact with its environment. The applications of the robotic systems as a whole consider the exploitation of the sensors’ readings as a major prerequisite to accomplish specific tasks.The techniques of creating collision free trajectories as well as robot vision techniques are the most well-known examples of methods and applications that require the use of sensors. The main objective of this PhD thesis is the study and the development of new techniques for the creation of robot trajectories as well as robot vision approaches related to the navigation of mobile robots. The first described technique for trajectory creation is based on the application of Cellular Automata (CA) in order for a team of cooperative robots to follow a predefined trajectory. The main goal of the system is to provide a locomotion framework to a robotic team so that the desired distance could be covered while possible detected obstacles are avoided. In addition, the method for creating trajectories must exploit and utilize the minimum potential resources in order to fulfill further goals such as formation control of the team via processes of cooperation. Initially, the configuration space is divided into a number of identical square cells which are characterized by a single state at each time step. The state of each cell is evolved at each time step according to its current state and the corresponding states of its adjacent cells by applying the appropriate transition rules. The desired distance, the collision avoidance and the formation control processes are completed with the application of suitable CA transition rules. Due to the CA simplicity, the proposed technique displays low technical requirements for its implementation in real systems. Dynamically moving objects can be detected and avoided successfully, though with some restrictions due to the discretization of space. Compared to other similar techniques reported in the literature which have high requirements concerning the characteristics of the robots in use, the proposed method could be implemented using a robot team consisting of robots with limited technical specifications.The basic problem that must be confronted in multitudinous robot teams relies on the fact that local cooperation among numerous adjacent robots is required in order to preserve their initial formation. Despite its importance, this cooperation process proves to be time consuming since the formation recovery is achieved at local level. The second technique for trajectory creation was proposed in order to minimize the required time for cooperation and…
Subjects/Keywords: Αυτόνομα ρομπότ; Ρομποτικές ομάδες; Χάραξη πορειών; Διατήρηση σχηματισμών; Ρομποτική όραση; Ψηφιακή σταθεροποίηση εικόνων; Στερεοσκοπική όραση; Αναπροσαρμογή επιπέδου ανομοιομορφιών; Autonomous robots; Robot teams; Path planning; Formation control; Robot vision; Digital image stabilization; Stereo vision; Adaptive disparity level
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APA ·
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APA (6th Edition):
Ιωαννίδης, . . (2013). Νέες τεχνικές χάραξης πορείας ρομπότ και ρομποτικής όρασης. (Thesis). Democritus University of Thrace (DUTH); Δημοκρίτειο Πανεπιστήμιο Θράκης (ΔΠΘ). Retrieved from http://hdl.handle.net/10442/hedi/30497
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):
Ιωαννίδης, Κωνσταντίνος. “Νέες τεχνικές χάραξης πορείας ρομπότ και ρομποτικής όρασης.” 2013. Thesis, Democritus University of Thrace (DUTH); Δημοκρίτειο Πανεπιστήμιο Θράκης (ΔΠΘ). Accessed April 10, 2021.
http://hdl.handle.net/10442/hedi/30497.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Ιωαννίδης, Κωνσταντίνος. “Νέες τεχνικές χάραξης πορείας ρομπότ και ρομποτικής όρασης.” 2013. Web. 10 Apr 2021.
Vancouver:
Ιωαννίδης . Νέες τεχνικές χάραξης πορείας ρομπότ και ρομποτικής όρασης. [Internet] [Thesis]. Democritus University of Thrace (DUTH); Δημοκρίτειο Πανεπιστήμιο Θράκης (ΔΠΘ); 2013. [cited 2021 Apr 10].
Available from: http://hdl.handle.net/10442/hedi/30497.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Ιωαννίδης . Νέες τεχνικές χάραξης πορείας ρομπότ και ρομποτικής όρασης. [Thesis]. Democritus University of Thrace (DUTH); Δημοκρίτειο Πανεπιστήμιο Θράκης (ΔΠΘ); 2013. Available from: http://hdl.handle.net/10442/hedi/30497
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
16.
Kira, Zsolt.
Communication and alignment of grounded symbolic knowledge among heterogeneous robots.
Degree: PhD, Computing, 2010, Georgia Tech
URL: http://hdl.handle.net/1853/33941
► Experience forms the basis of learning. It is crucial in the development of human intelligence, and more broadly allows an agent to discover and learn…
(more)
▼ Experience forms the basis of learning. It is crucial in the development of human intelligence, and more broadly allows an agent to discover and learn about the world around it. Although experience is fundamental to learning, it is costly and time-consuming to obtain. In order to speed this process up, humans in particular have developed communication abilities so that ideas and knowledge can be shared without requiring first-hand experience.
Consider the same need for knowledge sharing among robots. Based on the recent growth of the field, it is reasonable to assume that in the near future there will be a collection of robots learning to perform tasks and gaining their own experiences in the world. In order to speed this learning up, it would be beneficial for the various robots to share their knowledge with each other. In most cases, however, the communication of knowledge among humans relies on the existence of similar sensory and motor capabilities. Robots, on the other hand, widely vary in perceptual and motor apparatus, ranging from simple light sensors to sophisticated laser and vision sensing.
This dissertation defines the problem of how heterogeneous robots with widely different capabilities can share experiences gained in the world in order to speed up learning. The work focus specifically on differences in sensing and perception, which can be used both for perceptual categorization tasks as well as determining actions based on environmental features. Motivating the problem, experiments first demonstrate that heterogeneity does indeed pose a problem during the transfer of object models from one
robot to another. This is true even when using state of the art object recognition algorithms that use SIFT features, designed to be unique and reproducible.
It is then shown that the abstraction of raw sensory data into intermediate categories for multiple object features (such as color, texture, shape, etc.), represented as Gaussian Mixture Models, can alleviate some of these issues and facilitate effective knowledge transfer. Object representation, heterogeneity, and knowledge transfer is framed within Gärdenfors' conceptual spaces, or geometric spaces that utilize similarity measures as the basis of categorization. This representation is used to model object properties (e.g. color or texture) and concepts (object categories and specific objects).
A framework is then proposed to allow heterogeneous robots to build models of their differences with respect to the intermediate representation using joint interaction in the environment. Confusion matrices are used to map property pairs between two heterogeneous robots, and an information-theoretic metric is proposed to model information loss when going from one
robot's representation to another. We demonstrate that these metrics allow for cognizant failure, where the robots can ascertain if concepts can or cannot be shared, given their respective capabilities.
After this period of joint interaction, the learned models are used to facilitate…
Advisors/Committee Members: Arkin, Ronald (Committee Chair), Balch, Tucker (Committee Member), Collins, Thomas (Committee Member), Goel, Ashok (Committee Member), Isbell, Charles (Committee Member).
Subjects/Keywords: Heterogeneous robot teams; Robot transfer learning; Grounded concept learning; Cognitive Vision; Robot perception; Conceptual spaces; Machine learning; Robotics; Multiagent systems
…Robot and Robot-Robot Interaction
43
2.4 Defining or Characterizing Capabilities and… …Heterogeneity
76
3.7 Experimental Platforms
81
3.7.1 Simulated Platforms
81
3.7.2 Real-Robot… …Platforms (Configuration 1)
83
3.7.3 Real-Robot Platforms (Configuration 2)… …Procedure
87
3.8.3.2 Results
92
3.8.4 Real-Robot (Configuration 2)
93
3.8.4.1… …Experimental Evaluation: Building Property Mappings
120
4.5.1 Hypothesis
121
4.5.2 Real Robot…
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APA (6th Edition):
Kira, Z. (2010). Communication and alignment of grounded symbolic knowledge among heterogeneous robots. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/33941
Chicago Manual of Style (16th Edition):
Kira, Zsolt. “Communication and alignment of grounded symbolic knowledge among heterogeneous robots.” 2010. Doctoral Dissertation, Georgia Tech. Accessed April 10, 2021.
http://hdl.handle.net/1853/33941.
MLA Handbook (7th Edition):
Kira, Zsolt. “Communication and alignment of grounded symbolic knowledge among heterogeneous robots.” 2010. Web. 10 Apr 2021.
Vancouver:
Kira Z. Communication and alignment of grounded symbolic knowledge among heterogeneous robots. [Internet] [Doctoral dissertation]. Georgia Tech; 2010. [cited 2021 Apr 10].
Available from: http://hdl.handle.net/1853/33941.
Council of Science Editors:
Kira Z. Communication and alignment of grounded symbolic knowledge among heterogeneous robots. [Doctoral Dissertation]. Georgia Tech; 2010. Available from: http://hdl.handle.net/1853/33941
17.
You, Sangseok.
Technology with Embodied Physical Actions: Understanding Interactions and Effectiveness Gains in Teams Working with Robots.
Degree: PhD, Information, 2017, University of Michigan
URL: http://hdl.handle.net/2027.42/138514
► Teams in different areas are increasingly adopting robots to perform various mission operations. The inclusion of robots in teams has drawn consistent attention from scholars…
(more)
▼ Teams in different areas are increasingly adopting robots to perform various mission operations. The inclusion of robots in
teams has drawn consistent attention from scholars in relevant fields such as human-computer interaction (HCI) and human-
robot interaction (HRI). Yet, the current literature has not fully addressed issues regarding teamwork by mainly focusing on the collaboration between a single
robot and an individual. The limited scope of human-
robot collaboration in the existing research hinders uncovering the mechanism of performance gains in
teams that involve multiple robots and people.
This dissertation research is an effort to address the issue by achieving two goals. First, this dissertation examines the impacts of interaction between human teammates alone and interaction between humans and robots on outcomes in
teams working with robots. Second, I provide insight into the development of
teams working with robots by examining ways to promote a team member’s intention to work with robots.
In this dissertation, I conducted three studies in an endeavor to accomplish the aforementioned goals. The first study, in Chapter 2, turns to theory trust in
teams to explain outcome gains in
teams working with robots. This study reports result from a lab experiment, in which two people fulfilled a collaborative task using two robots. The results show that trust in robots and trust in teammates can be enhanced by a
robot-building activity and team identification, respectively. The enhanced trust revealed unique impacts on different team outcomes: trust in robots increased only team performance while trust in teammates increased only satisfaction. Theoretical and practical contributions of the findings are discussed in the chapter.
The second study, in Chapter 3, uncovers how team member’s efficacy beliefs interplay with team diversity to promote performance in
teams working with robots. Results from a lab experiment reveal that individual operator’s performance is enhanced by team potency perception only when the team is ethnically diverse. This study contributes to theory by identifying team diversity as a limiting condition of performance gains for
robot operators in
teams.
The third study, in Chapter 4, focuses on factors leading to the development of
teams working with robots. I conducted an online experiment to examine how surface-level and deep-level similarity contribute to trust in a robotic partner and the impact of the trust on a team member’s intention to work with the
robot in varying degrees of danger. This study generally shows that the possibility of danger regulates not only the positive link between the surface-level similarity and trust in
robot and but also the link between intention to work with the
robot and intention to replace a human teammate with the
robot.
Chapter 5, as a concluding chapter of this dissertation, discusses the theoretical and practical implications drawn from the three studies.
Advisors/Committee Members: Robert, Lionel P (committee member), Kamat, Vineet Rajendra (committee member), Finholt, Thomas A (committee member), Rieh, Soo Young (committee member).
Subjects/Keywords: teams; robots; human-computer interaction; human-robot interaction; human-robot teamwork; information systems; Information and Library Science; Social Sciences
…robot operators
in teams.
The third study, in Chapter 4, focuses on factors leading to the… …framework incorporates the inputs, mediators, and outputs of
human–robot teams with an iterative… …robot teams with feedback loops from
outputs to subsequent inputs and mediators during the… …structures in human–robot teamwork. Robots in
teams can be perceived to possess humanlike… …characteristics of robots and humans can influence
team-level characteristics of human–robot teams…
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APA ·
Chicago ·
MLA ·
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CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
You, S. (2017). Technology with Embodied Physical Actions: Understanding Interactions and Effectiveness Gains in Teams Working with Robots. (Doctoral Dissertation). University of Michigan. Retrieved from http://hdl.handle.net/2027.42/138514
Chicago Manual of Style (16th Edition):
You, Sangseok. “Technology with Embodied Physical Actions: Understanding Interactions and Effectiveness Gains in Teams Working with Robots.” 2017. Doctoral Dissertation, University of Michigan. Accessed April 10, 2021.
http://hdl.handle.net/2027.42/138514.
MLA Handbook (7th Edition):
You, Sangseok. “Technology with Embodied Physical Actions: Understanding Interactions and Effectiveness Gains in Teams Working with Robots.” 2017. Web. 10 Apr 2021.
Vancouver:
You S. Technology with Embodied Physical Actions: Understanding Interactions and Effectiveness Gains in Teams Working with Robots. [Internet] [Doctoral dissertation]. University of Michigan; 2017. [cited 2021 Apr 10].
Available from: http://hdl.handle.net/2027.42/138514.
Council of Science Editors:
You S. Technology with Embodied Physical Actions: Understanding Interactions and Effectiveness Gains in Teams Working with Robots. [Doctoral Dissertation]. University of Michigan; 2017. Available from: http://hdl.handle.net/2027.42/138514
18.
Walliser, James C.
SOCIAL INTERACTIONS WITH AUTONOMOUS AGENTS: TEAM PERCEPTION AND TEAM DEVELOPMENT IMPROVE TEAMWORK OUTCOMES
.
Degree: 2017, George Mason University
URL: http://hdl.handle.net/1920/11169
► Among groups of humans, the team structure has been argued to be the most effective way for people to organize to accomplish work (Groom &…
(more)
▼ Among groups of humans, the team structure has been argued to be the most effective way for people to organize to accomplish work (Groom & Nass, 2007). Research suggests that humans and autonomous agents can be more effective when working together as a combined unit than as individual entities (Marble Bruemmer, Few, & Dudenhoeffer, 2004). However, the drive toward capable autonomous teammates has focused on design characteristics while ignoring the importance of social interactions between teammates. Two experiments were performed to study how the perception of teamwork among human-human and human-autonomous agents and the application of team building interventions could enhance teamwork outcomes in the form of affect, behavior, and performance. In the first study, it was revealed that considering your human and autonomous partner a teammate resulted in improved affect and behaviors relative to a considering these agents as tools. However, team structure did not lead to significant performance differences. In the second study, participants completed goal setting and role clarification, two forms of team building, with their teammate prior to task performance. The team building interventions led to significant improvements for all three teamwork outcomes, including performance. Across both studies, participants communicated with human partners differently than they did with autonomous partners. These findings suggest that social interactions between humans and autonomous teammates should be an important design consideration, and that particular attention should be given to team building interventions to improve affect, behavior, and performance. Further research should explore team training, another form of team development, which may be useful for improving communication between humans and autonomous agents.
Advisors/Committee Members: Shaw, Tyler H (advisor).
Subjects/Keywords: Psychology;
Robotics;
Social psychology;
Autonomous Agents;
Human Robot Teams;
Social Robotics
…social robotics, human-robot interaction), creating new ways of thinking
about how to… …of the robot but the
effect it has on the thinking, feelings, and behavior of the human… …development of the field of human-robot
interaction as an evolutionary offshoot from human-computer… …human robot
interaction principles have been assessed in such applied settings as robotic… …particularly in the field of human-robot
interaction. For example, people demonstrated improved…
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APA ·
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Manager
APA (6th Edition):
Walliser, J. C. (2017). SOCIAL INTERACTIONS WITH AUTONOMOUS AGENTS: TEAM PERCEPTION AND TEAM DEVELOPMENT IMPROVE TEAMWORK OUTCOMES
. (Thesis). George Mason University. Retrieved from http://hdl.handle.net/1920/11169
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):
Walliser, James C. “SOCIAL INTERACTIONS WITH AUTONOMOUS AGENTS: TEAM PERCEPTION AND TEAM DEVELOPMENT IMPROVE TEAMWORK OUTCOMES
.” 2017. Thesis, George Mason University. Accessed April 10, 2021.
http://hdl.handle.net/1920/11169.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Walliser, James C. “SOCIAL INTERACTIONS WITH AUTONOMOUS AGENTS: TEAM PERCEPTION AND TEAM DEVELOPMENT IMPROVE TEAMWORK OUTCOMES
.” 2017. Web. 10 Apr 2021.
Vancouver:
Walliser JC. SOCIAL INTERACTIONS WITH AUTONOMOUS AGENTS: TEAM PERCEPTION AND TEAM DEVELOPMENT IMPROVE TEAMWORK OUTCOMES
. [Internet] [Thesis]. George Mason University; 2017. [cited 2021 Apr 10].
Available from: http://hdl.handle.net/1920/11169.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Walliser JC. SOCIAL INTERACTIONS WITH AUTONOMOUS AGENTS: TEAM PERCEPTION AND TEAM DEVELOPMENT IMPROVE TEAMWORK OUTCOMES
. [Thesis]. George Mason University; 2017. Available from: http://hdl.handle.net/1920/11169
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
19.
Martin, Adrian.
A Framework for the Development of Scalable Heterogeneous Robot Teams with Dynamically Distributed Processing.
Degree: 2013, University of Toronto
URL: http://hdl.handle.net/1807/35895
► As the applications of mobile robotics evolve it has become increasingly less practical for researchers to design custom hardware and control systems for each problem.…
(more)
▼ As the applications of mobile robotics evolve it has become increasingly less practical for researchers to design custom hardware and control systems for each problem. This research presents a new approach to control system design that looks beyond end-of-lifecycle performance and considers control system structure, flexibility, and extensibility. Toward these ends the Control ad libitum philosophy is proposed, stating that to make significant progress in the real-world application of mobile robot teams the control system must be structured such that teams can be formed in real-time from diverse components. The Control ad libitum philosophy was applied to the design of the HAA (Host, Avatar, Agent) architecture: a modular hierarchical framework built with provably correct distributed algorithms.
A control system for exploration and mapping, search and deploy, and foraging was developed to evaluate the architecture in three sets of hardware-in-the-loop experiments. First, the basic functionality of the HAA architecture was studied, specifically the ability to: a) dynamically form the control system, b) dynamically form the robot team, c) dynamically form the processing network, and d) handle heterogeneous teams. Secondly, the real-time performance of the distributed algorithms was tested, and proved effective for the moderate sized systems tested. Furthermore, the distributed Just-in-time Cooperative Simultaneous Localization and Mapping (JC-SLAM) algorithm demonstrated accuracy equal to or better than traditional approaches in resource starved scenarios, while reducing exploration time significantly. The JC-SLAM strategies are also suitable for integration into many existing particle filter SLAM approaches, complementing their unique optimizations. Thirdly, the control system was subjected to concurrent software and hardware failures in a series of increasingly complex experiments. Even with unrealistically high rates of failure the control system was able to successfully complete its tasks.
The HAA implementation designed following the Control ad libitum philosophy proved to be capable of dynamic team formation and extremely robust against both hardware and software failure; and, due to the modularity of the system there is significant potential for reuse of assets and future extensibility. One future goal is to make the source code publically available and establish a forum for the development and exchange of new agents.
PhD
Advisors/Committee Members: Emami, Mohammad Reza, Aerospace Science and Engineering.
Subjects/Keywords: robot teams; control system architecture; distributed; heterogeneous; failure recovery; SLAM; hardware-in-the-loop; 0771
…advantages
of robot teams are typically listed as: cost per system, robustness through redundancy… …limitations and note many of the
challenges facing the developers of robot teams. Questions of… …robot teams. Toward these ends the Control ad libitum philosophy
was proposed, stating that in… …order to make significant progress in the real-world use of mobile
robot teams the control… …community:
3
1. A structured, big-picture, look was taken at the design of robot teams…
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APA ·
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Export
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Manager
APA (6th Edition):
Martin, A. (2013). A Framework for the Development of Scalable Heterogeneous Robot Teams with Dynamically Distributed Processing. (Doctoral Dissertation). University of Toronto. Retrieved from http://hdl.handle.net/1807/35895
Chicago Manual of Style (16th Edition):
Martin, Adrian. “A Framework for the Development of Scalable Heterogeneous Robot Teams with Dynamically Distributed Processing.” 2013. Doctoral Dissertation, University of Toronto. Accessed April 10, 2021.
http://hdl.handle.net/1807/35895.
MLA Handbook (7th Edition):
Martin, Adrian. “A Framework for the Development of Scalable Heterogeneous Robot Teams with Dynamically Distributed Processing.” 2013. Web. 10 Apr 2021.
Vancouver:
Martin A. A Framework for the Development of Scalable Heterogeneous Robot Teams with Dynamically Distributed Processing. [Internet] [Doctoral dissertation]. University of Toronto; 2013. [cited 2021 Apr 10].
Available from: http://hdl.handle.net/1807/35895.
Council of Science Editors:
Martin A. A Framework for the Development of Scalable Heterogeneous Robot Teams with Dynamically Distributed Processing. [Doctoral Dissertation]. University of Toronto; 2013. Available from: http://hdl.handle.net/1807/35895
20.
Mohan, Sanjana Reddy.
3D Formation Control in Multi-Robot Teams Using Artificial Potential Fields.
Degree: MS, Engineering, 2019, U of Denver
URL: https://digitalcommons.du.edu/etd/1604
► Multi-robot teams find applications in emergency response, search and rescue operations, convoy support and many more. Teams of autonomous aerial vehicles can also be…
(more)
▼ Multi-
robot teams find applications in emergency response, search and rescue operations, convoy support and many more.
Teams of autonomous aerial vehicles can also be used to protect a cargo of airplanes by surrounding them in some geometric shape. This research develops a control algorithm to attract UAVs to one or a set of bounded geometric shapes while avoiding collisions, re-configuring in the event of departure or addition of UAVs and maneuvering in mission space while retaining the configuration. Using potential field theory, weighted vector fields are described to attract UAVs to a desired formation. In order to achieve this, three vector fields are defined: one attracts UAVs located outside the formation towards bounded geometric shape; one pushes them away from the center towards the desired region and the third controls collision avoidance and dispersion of UAVs within the formation. The result is a control algorithm that is theoretically justified and verified using MATLAB which generates velocity vectors to attract UAVs to a loose formation and maneuver in the mission space while remaining in formation. This approach efficiently scales to different team sizes.
Advisors/Committee Members: Matthew J. Rutherford, Ph.D., Kimon P. Valavanis, Ph.D..
Subjects/Keywords: Multi-robot; Potential fields; Teams; Unmanned aerial vehicles; Computer Engineering; Engineering; Robotics
…tasks, which, cumulatively accomplish the assigned mission. Multi-robot teams may
be deployed… …formation
control topology and formation control strategies in multi-robot teams are discussed.
3… …x5B;44] cooperative multi-robot
teams are used in transportation of objects. Liu et al… …45] multi-robot teams perform cooperative foraging tasks. On the contrary,
robots… …14
2.3
Formation Control Strategies
Formation control in multi-robot teams has been…
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APA (6th Edition):
Mohan, S. R. (2019). 3D Formation Control in Multi-Robot Teams Using Artificial Potential Fields. (Thesis). U of Denver. Retrieved from https://digitalcommons.du.edu/etd/1604
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):
Mohan, Sanjana Reddy. “3D Formation Control in Multi-Robot Teams Using Artificial Potential Fields.” 2019. Thesis, U of Denver. Accessed April 10, 2021.
https://digitalcommons.du.edu/etd/1604.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Mohan, Sanjana Reddy. “3D Formation Control in Multi-Robot Teams Using Artificial Potential Fields.” 2019. Web. 10 Apr 2021.
Vancouver:
Mohan SR. 3D Formation Control in Multi-Robot Teams Using Artificial Potential Fields. [Internet] [Thesis]. U of Denver; 2019. [cited 2021 Apr 10].
Available from: https://digitalcommons.du.edu/etd/1604.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Mohan SR. 3D Formation Control in Multi-Robot Teams Using Artificial Potential Fields. [Thesis]. U of Denver; 2019. Available from: https://digitalcommons.du.edu/etd/1604
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
University of South Florida
21.
Tsalatsanis, Athanasios.
Control of Autonomous Robot Teams in Industrial Applications.
Degree: 2008, University of South Florida
URL: https://scholarcommons.usf.edu/etd/538
► The use of teams of coordinated mobile robots in industrial settings such as underground mining, toxic waste cleanup and material storage and handling, is a…
(more)
▼ The use of teams of coordinated mobile robots in industrial settings such as underground mining, toxic waste cleanup and material storage and handling, is a viable and reliable approach to solving such problems that require or involve automation. In this thesis, abilities a team of mobile robots should demonstrate in order to successfully perform a mission in industrial settings are identified as a set of functional components. These components are related to navigation and obstacle avoidance, localization, task achieving behaviors and mission planning. The thesis focuses on designing and developing functional components applicable to diverse missions involving teams of mobile robots; in detail, the following are presented:
1. A navigation and obstacle avoidance technique to safely navigate the robot in an unknown environment. The technique relies on information retrieved by the robot's vision system and sonar sensors to identify and avoid surrounding obstacles.
2. A localization method based on Kalman filtering and Fuzzy logic to estimate the robot's position. The method uses information derived by multiple robot sensors such as vision system, odometer, laser range finder, GPS and IMU.
3. A target tracking and collision avoidance technique based on information derived by a vision system and a laser range finder. The technique is applicable in scenarios where an intruder is identified in the patrolling area.
4. A limited lookahead control methodology responsible for mission planning. The methodology is based on supervisory control theory and it is responsible for task allocation between the robots of the team. The control methodology considers situations where a robot may fail during operation.
The performance of each functional component has been verified through extensive experimentation in indoor and outdoor environments. As a case study, a warehouse patrolling application is considered to demonstrate the effectiveness of the mission planning component.
Subjects/Keywords: Mobile robot teams; Autonomous systems; Hybrid control; Control architecture; Supervisory control; American Studies; Arts and Humanities
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APA ·
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Manager
APA (6th Edition):
Tsalatsanis, A. (2008). Control of Autonomous Robot Teams in Industrial Applications. (Thesis). University of South Florida. Retrieved from https://scholarcommons.usf.edu/etd/538
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):
Tsalatsanis, Athanasios. “Control of Autonomous Robot Teams in Industrial Applications.” 2008. Thesis, University of South Florida. Accessed April 10, 2021.
https://scholarcommons.usf.edu/etd/538.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Tsalatsanis, Athanasios. “Control of Autonomous Robot Teams in Industrial Applications.” 2008. Web. 10 Apr 2021.
Vancouver:
Tsalatsanis A. Control of Autonomous Robot Teams in Industrial Applications. [Internet] [Thesis]. University of South Florida; 2008. [cited 2021 Apr 10].
Available from: https://scholarcommons.usf.edu/etd/538.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Tsalatsanis A. Control of Autonomous Robot Teams in Industrial Applications. [Thesis]. University of South Florida; 2008. Available from: https://scholarcommons.usf.edu/etd/538
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
22.
Pruner, Elisha.
Control of Self-Organizing and Geometric Formations
.
Degree: 2014, University of Ottawa
URL: http://hdl.handle.net/10393/30491
► Multi-vehicle systems offer many advantages in engineering applications such as increased efficiency and robustness. However, the disadvantage of multi-vehicle systems is that they require a…
(more)
▼ Multi-vehicle systems offer many advantages in engineering applications such as increased efficiency and robustness. However, the disadvantage of multi-vehicle systems is that they require a high level of organization and coordination in order to successfully complete a task. Formation control is a field of engineering that addresses this issue, and provides coordination schemes to successfully implement multi-vehicle systems. Two approaches to group coordination were proposed in this work: geometric and self-organizing formations. A geometric reconfiguring formation was developed using the leader-follower method, and the self-organizing formation was developed using the velocity potential equations from fluid flow theory. Both formation controllers were first tested in simulation in MATLAB, and then implemented on the X80 mobile robot units. Various experiments were conducted to test the formations under difficult obstacle scenarios. The robots successfully navigated through the obstacles as a coordinated as a team using the self-organizing and geometric formation control approaches.
Subjects/Keywords: formation control;
autonomous mobile robots;
control of robot teams;
leader-follower formation;
self-organizing formations;
decentralized control;
artificial potential field formation;
velocity potential;
multi-agent systems;
reconfiguring geometric formation
…teams in dynamic environments. Autonomous motion in multi-robot systems is a very complex… …approach[39].
Multi-robot teams add redundancy, increase the fault tolerance of the… …cooperate with each other to perform their mission.
Multi-robot teams exchange information over a… …of multi-robot teams. Collision avoidance strategies alone are not enough, and
large groups… …culmination of reactive behaviors. In the paper, new formations in multi-robot
teams are presented…
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APA ·
Chicago ·
MLA ·
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Export
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Manager
APA (6th Edition):
Pruner, E. (2014). Control of Self-Organizing and Geometric Formations
. (Thesis). University of Ottawa. Retrieved from http://hdl.handle.net/10393/30491
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):
Pruner, Elisha. “Control of Self-Organizing and Geometric Formations
.” 2014. Thesis, University of Ottawa. Accessed April 10, 2021.
http://hdl.handle.net/10393/30491.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Pruner, Elisha. “Control of Self-Organizing and Geometric Formations
.” 2014. Web. 10 Apr 2021.
Vancouver:
Pruner E. Control of Self-Organizing and Geometric Formations
. [Internet] [Thesis]. University of Ottawa; 2014. [cited 2021 Apr 10].
Available from: http://hdl.handle.net/10393/30491.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Pruner E. Control of Self-Organizing and Geometric Formations
. [Thesis]. University of Ottawa; 2014. Available from: http://hdl.handle.net/10393/30491
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
. 
Open Access Theses and Dissertations
