Generalized Coordination of Multi-robot Systems: Introduction 2. Overview 3. Group Theory 4. Graph Theory 5. Stability Theory for Gradient-flow Systems 6. Pairwise Coordination 7. Generalized Coordination with “Absolute” Measurements 8. Generalized Coordination with “Relative” Measurements 9. Application Examples 10. Concluding Remarks Acknowledgements Appendices References PDF Download
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Author: Kazunori Sakurama
Publisher:
ISBN: 9781680839036
Category : Robotics
Languages : en
Pages :
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Book Description
Multi-robot systems have huge potential for practical applications, which include sensor networks, area surveillance, and environment mapping. In many applications, cooperative coordination of the robots plays a central role. However, there are so many tasks and their variants, it is not viable to describe individually all the existing methods. Instead, in this monograph the authors focus on a generalized coordination problem which can cover a wide range of coordination problems and handle them in a unified manner. The reader is first introduced to the mathematics and a set of systematic tools that underpin subsequent discussions on the practical implementations. Each chapter in the second part of the book uses the same structure to address three types of generalized coordination problems, namely, Pairwise Coordination; Generalized Coordination with “Absolute” Measurements and Generalized Coordination with “Relative” Measurements. Finally, the authors present real-world applications of generalized coordination. Throughout, the authors provide examples to clearly illustrate the concepts being discussed. The book provides an accessible overview of the complexities of the topic for students, researchers and practitioners alike.
Author: Kazunori Sakurama
Publisher:
ISBN: 9781680839036
Category : Robotics
Languages : en
Pages :
Get Book
Book Description
Multi-robot systems have huge potential for practical applications, which include sensor networks, area surveillance, and environment mapping. In many applications, cooperative coordination of the robots plays a central role. However, there are so many tasks and their variants, it is not viable to describe individually all the existing methods. Instead, in this monograph the authors focus on a generalized coordination problem which can cover a wide range of coordination problems and handle them in a unified manner. The reader is first introduced to the mathematics and a set of systematic tools that underpin subsequent discussions on the practical implementations. Each chapter in the second part of the book uses the same structure to address three types of generalized coordination problems, namely, Pairwise Coordination; Generalized Coordination with “Absolute” Measurements and Generalized Coordination with “Relative” Measurements. Finally, the authors present real-world applications of generalized coordination. Throughout, the authors provide examples to clearly illustrate the concepts being discussed. The book provides an accessible overview of the complexities of the topic for students, researchers and practitioners alike.
Author: Kazunori Sakurama
Publisher:
ISBN: 9781680839029
Category : Computers
Languages : en
Pages : 194
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Book Description
This book provides an accessible overview of the complexities of generalized coordination for students, researchers and practitioners alike. Covering both theory and practical issues, the authors provide examples throughout to clearly illustrate the concepts being discussed.
Author: Ke Xu
Publisher:
ISBN:
Category : Automation
Languages : en
Pages : 107
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Book Description
Autonomous multi-robot systems play important roles in many areas such as industrial applications for repetitive tasks, explorations in hazardous environments, and military missions in extreme conditions. Many existing coordination strategies are developed for two general types of multi-robot systems including strongly centralized systems and completely decentralized systems. For strongly centralized systems, the global information including the environment as well as the locations of all the robots is shared. It is typical for small number of robots in well structural environments and is not robust to dynamic environment or failures in communications and other uncertainties. For completely decentralized systems, each robot is executing its own control schemes completely autonomously. There are no specified leaders throughout the mission, and the team organization does not have a set structure. In many real-world applications, it is beneficial to use so-called weakly centralized systems, in which the leader robot is not specified a priori, but it is selected dynamically during the mission to guide the robot team through dynamic environments or other uncertainties. It is very challenging to develop coordination strategies for this type of systems because of the dynamic nature of the team structures. The strategies should not only allow for on-line leader role selection but also enable formation decomposition and reconfiguration whenever necessary. In this thesis, we describe a general coordination framework for weakly centralized multi-robot systems that integrates the features from both strongly centralized and completely decentralized coordination strategies at the individual robot level. The framework allows the robots to reconfigure the formation dynamically in the presence of obstacles or other uncertainties in the environment, and promotes the main advantages of multi-robot systems such as flexibility and modularity. Since the control schemes can be decentralized and this framework allows for the selection of the motion planner and local controller for a given task, the framework can be naturally applied to multi-robot systems with larger scales. We have implemented this framework on a team of two-wheeled differential driven mobile robots. Significant results from numerical simulations and experiments have been obtained to demonstrate that the coordination schemes are effective and robust, and the framework is viable and can be scaled to relative large scale multi-robot systems.
Author: Eugene Kagan
Publisher: John Wiley & Sons
ISBN: 1119213177
Category : Technology & Engineering
Languages : en
Pages : 344
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Book Description
Offers a theoretical and practical guide to the communication and navigation of autonomous mobile robots and multi-robot systems This book covers the methods and algorithms for the navigation, motion planning, and control of mobile robots acting individually and in groups. It addresses methods of positioning in global and local coordinates systems, off-line and on-line path-planning, sensing and sensors fusion, algorithms of obstacle avoidance, swarming techniques and cooperative behavior. The book includes ready-to-use algorithms, numerical examples and simulations, which can be directly implemented in both simple and advanced mobile robots, and is accompanied by a website hosting codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming consists of four main parts. The first looks at the models and algorithms of navigation and motion planning in global coordinates systems with complete information about the robot’s location and velocity. The second part considers the motion of the robots in the potential field, which is defined by the environmental states of the robot's expectations and knowledge. The robot's motion in the unknown environments and the corresponding tasks of environment mapping using sensed information is covered in the third part. The fourth part deals with the multi-robot systems and swarm dynamics in two and three dimensions. Provides a self-contained, theoretical guide to understanding mobile robot control and navigation Features implementable algorithms, numerical examples, and simulations Includes coverage of models of motion in global and local coordinates systems with and without direct communication between the robots Supplemented by a companion website offering codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming is an excellent tool for researchers, lecturers, senior undergraduate and graduate students, and engineers dealing with mobile robots and related issues.
Author: Alan C. Schultz
Publisher: Springer
ISBN: 9781402006791
Category : Computers
Languages : en
Pages : 235
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Book Description
In March 2002, the Naval Research Laboratory brought together leading researchers and government sponsors for a three-day workshop in Washington, D.C. on Multi-Robot Systems. The workshop began with presentations by various government program managers describing application areas and programs with an interest in multi robot systems. Government representatives were on hand from the Office of Naval Research, the Air Force, the Army Research Lab, the National Aeronau tics and Space Administration, and the Defense Advanced Research Projects Agency. Top researchers then presented their current activities in the areas of multi robot systems and human-robot interaction. The first two days of the workshop of1ocalizatio~. concentrated on multi-robot control issues, including the topics mapping, and navigation; distributed surveillance; manipulation; coordination and formations; and sensors and hardware. The third day was focused on hu man interactions with multi-robot teams. All presentations were given in a single-track workshop format. This proceedings documents the work presented by these researchers at the workshop. The invited presentations were followed by panel discussions, in which all participants interacted to highlight the challenges of this field and to develop possible solutions. In addition to the invited research talks, students were given an opportunity to present their work at poster sessions.
Author: Dejan Milutinović
Publisher: Springer Science & Business Media
ISBN: 3642339719
Category : Technology & Engineering
Languages : en
Pages : 240
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Book Description
The trend in the evolution of robotic systems is that the number of degrees of freedom increases. This is visible both in robot manipulator design and in the shift of focus from single to multi-robot systems. Following the principles of evolution in nature, one may infer that adding degrees of freedom to robot systems design is beneficial. However, since nature did not select snake-like bodies for all creatures, it is reasonable to expect the presence of a certain selection pressure on the number of degrees of freedom. Thus, understanding costs and benefits of multiple degrees of freedom, especially those that create redundancy, is a fundamental problem in the field of robotics. This volume is mostly based on the works presented at the workshop on Redundancy in Robot Manipulators and Multi-Robot Systems at the IEEE/RSJ International Conference on Intelligent Robots and Systems - IROS 2011. The workshop was envisioned as a dialog between researchers from two separate, but obviously related fields of robotics: one that deals with systems having multiple degrees of freedom, including redundant robot manipulators, and the other that deals with multirobot systems. The volume consists of twelve chapters, each representing one of the two fields.
Author: Hugh F. Durrant-Whyte
Publisher: Springer
ISBN:
Category : Computers
Languages : en
Pages : 266
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Book Description
Overview Recent years have seen an increasing interest in the development of multi-sensory robot systems. The reason for this interest stems from a realization that there are fundamental limitations on the reconstruction of environment descriptions using only a single source of sensor information. If robot systems are ever to achieve a degree of intelligence and autonomy, they must be capable of using many different sources of sensory information in an active and dynamic manner. The observations made by the different sensors of a multi-sensor system are always uncertain, usually partial, occasionally spuri9us or incorrect and often geographically or geometrically imcomparable with other sensor views. The sensors of these systems are characterized by the diversity of information that they can provide and by the complexity of their operation. It is the goal of a multi sensor system to combine information from all these different sources into a robust and consistent description of the environment.
Author: Alan C. Schultz
Publisher: Springer
ISBN: 9789048160464
Category : Computers
Languages : en
Pages : 0
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Book Description
In March 2002, the Naval Research Laboratory brought together leading researchers and government sponsors for a three-day workshop in Washington, D.C. on Multi-Robot Systems. The workshop began with presentations by various government program managers describing application areas and programs with an interest in multi robot systems. Government representatives were on hand from the Office of Naval Research, the Air Force, the Army Research Lab, the National Aeronau tics and Space Administration, and the Defense Advanced Research Projects Agency. Top researchers then presented their current activities in the areas of multi robot systems and human-robot interaction. The first two days of the workshop of1ocalizatio~. concentrated on multi-robot control issues, including the topics mapping, and navigation; distributed surveillance; manipulation; coordination and formations; and sensors and hardware. The third day was focused on hu man interactions with multi-robot teams. All presentations were given in a single-track workshop format. This proceedings documents the work presented by these researchers at the workshop. The invited presentations were followed by panel discussions, in which all participants interacted to highlight the challenges of this field and to develop possible solutions. In addition to the invited research talks, students were given an opportunity to present their work at poster sessions.
Author: Arup Kumar Sadhu
Publisher: John Wiley & Sons
ISBN: 1119698995
Category : Computers
Languages : en
Pages : 320
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Book Description
Discover the latest developments in multi-robot coordination techniques with this insightful and original resource Multi-Agent Coordination: A Reinforcement Learning Approach delivers a comprehensive, insightful, and unique treatment of the development of multi-robot coordination algorithms with minimal computational burden and reduced storage requirements when compared to traditional algorithms. The accomplished academics, engineers, and authors provide readers with both a high-level introduction to, and overview of, multi-robot coordination, and in-depth analyses of learning-based planning algorithms. You'll learn about how to accelerate the exploration of the team-goal and alternative approaches to speeding up the convergence of TMAQL by identifying the preferred joint action for the team. The authors also propose novel approaches to consensus Q-learning that address the equilibrium selection problem and a new way of evaluating the threshold value for uniting empires without imposing any significant computation overhead. Finally, the book concludes with an examination of the likely direction of future research in this rapidly developing field. Readers will discover cutting-edge techniques for multi-agent coordination, including: An introduction to multi-agent coordination by reinforcement learning and evolutionary algorithms, including topics like the Nash equilibrium and correlated equilibrium Improving convergence speed of multi-agent Q-learning for cooperative task planning Consensus Q-learning for multi-agent cooperative planning The efficient computing of correlated equilibrium for cooperative q-learning based multi-agent planning A modified imperialist competitive algorithm for multi-agent stick-carrying applications Perfect for academics, engineers, and professionals who regularly work with multi-agent learning algorithms, Multi-Agent Coordination: A Reinforcement Learning Approach also belongs on the bookshelves of anyone with an advanced interest in machine learning and artificial intelligence as it applies to the field of cooperative or competitive robotics.
Author: Huaqing Li
Publisher: Academic Press
ISBN: 0323901328
Category : Science
Languages : en
Pages : 196
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Book Description
Second-Order Consensus of Continuous-Time Multi-Agent Systems focuses on the characteristics and features of second-order agents, communication networks, and control protocols/algorithms in continuous consensus of multi-agent systems. The book provides readers with background on consensus control of multi-agent systems and introduces the intrinsic characteristics of second-order agents’ behavior, including the development of continuous control protocols/algorithms over various types of underlying communication networks, as well as the implementation of computation- and communication-efficient strategies in the execution of protocols/algorithms. The book's authors also provide coverage of the frameworks of stability analysis, algebraic criteria and performance evaluation. On this basis, the book provides an in-depth study of intrinsic nonlinear dynamics from agents’ perspective, coverage of unbalanced directed topology, random switching topology, event-triggered communication, and random link failure, from a communication networks’ perspective, as well as leader-following control, finite-time control, and global consensus control, from a protocols/algorithms’ perspective. Finally, simulation results including practical application examples are presented to illustrate the effectiveness and the practicability of the control protocols and algorithms proposed in this book. Introduces the latest and most advanced protocols and algorithms in second-order consensus of continuous time, multi-agent systems with various characteristics Provides readers with in-depth methods on how to construct the frameworks of stability analysis, algebraic criteria, and performance evaluation, thus helping users develop novel consensus control methods Includes systematic introductions and detailed implementations on how control protocols and algorithms solve problems in real world, second-order, multi-agent systems, including solutions for engineers in related fields
