Distributed Autonomous Robotic Systems

Name: Distributed Autonomous Robotic Systems | 16th International Symposium
Brand: Springer
Price: 223.63 EUR
Availability: OnlineOnly

16th International Symposium

Julien Bourgeois Jamie Paik Benoît Piranda Justin Werfel Sabine Hauert Alyssa Pierson Heiko Hamann Tin Lun LAM Fumitoshi Matsuno Negar Mehr Abdallah Makhoul(Herausgeber*in)

Springer (Verlag)

1. Auflage

Erschienen am 31. Januar 2024

XII, 564 Seiten

E-Book

PDF mit Wasserzeichen-DRM

Systemvoraussetzungen

978-3-031-51497-5 (ISBN)

223,63 €inkl. 7% MwSt.

Systemvoraussetzungen

für PDF mit Wasserzeichen-DRM

E-Book Einzellizenz

Als Download verfügbar

Beschreibung

Weitere Details

Weitere Ausgaben

Personen

Inhalt

Intro
Foreword
Preface
Contents
How Can We Understand Multi-Robot Systems? a User Study to Compare Implicit and Explicit Communication Modalities
1 Introduction
2 Methods
2.1 Communication Modalities
2.2 Experimental Task
2.3 Experimental Setup
2.4 Participants
2.5 Data Collection and Analysis
3 Results
3.1 Correctness of Responses
3.2 Response Time
3.3 Subjective Reporting
4 Conclusion
References
The Benefits of Interaction Constraints in Distributed Autonomous Systems
1 Introduction
2 Collective Learning in Multi-agent Systems
3 A Three-Valued Model for Collective Learning
4 Simulation Environment
5 The Networks Underlying Agent Interactions
6 Multi-agent Simulation Experiments
6.1 Convergence Results for Physical Networks
7 Constraining the Interaction Network
7.1 Convergence Results for Constrained Interaction Networks
8 Conclusion and Future Work
References
Outlining the Design Space of eXplainable Swarm (xSwarm): Experts' Perspective
1 Introduction
2 Background and Related Work
3 Background and Related Work
3.1 Participants
3.2 Study Procedure and Design
3.3 Analysis
4 Results
4.1 Explanation Categories
4.2 Challenges Faced by Swarm Experts
5 Conclusion
References
VMAS: A Vectorized Multi-agent Simulator for Collective Robot Learning
1 Introduction
2 Related Work
3 The VMAS Platform
4 Multi-robot Scenarios
5 Comparison with MPE
6 Experiments and Benchmarks
7 Conclusion
References
FLAM: Fault Localization and Mapping
1 Introduction
2 Related Work and Background
2.1 Fault Detection
2.2 Risk Awareness
2.3 Distributed Storage
3 System Model
3.1 Risk Modelling
3.2 Feature Vectors
3.3 Fault Detection
3.4 Distributed Belief Map
3.5 Implementation
4 Simulations
4.1 Experimental Setup
4.2 Results
5 Conclusion
References
Social Exploration in Robot Swarms
1 Introduction
2 Related Work
3 Methodology
3.1 Simulation and Local Swarm Behaviours
3.2 Generating Random Environments
3.3 Agents with ``Happiness''
3.4 Social Exploration Algorithm
4 Results
4.1 Performance in Randomly Generated Environments
5 Conclusions and Future Work
References
Stochastic Nonlinear Ensemble Modeling and Control for Robot Team Environmental Monitoring
1 Introduction
2 Problem Formulation
2.1 Task Topology
2.2 Ensemble Model
3 Ensemble Model Control
3.1 Feedback Controller
3.2 Distributed Microscopic Algorithm
4 Simulation and Experimental Setup
5 Results
6 Discussion
7 Conclusion
References
A Decentralized Cooperative Approach to Gentle Human Transportation with Mobile Robots Based on Tactile Feedback
1 Introduction
2 Methodology
2.1 Flexible Tactile Sensors and Methods of Acquiring Force Information
2.2 Design of Control Law
3 Modeling and Simulation
3.1 Modeling
3.2 Simulation
4 Experiments
4.1 Experiment Setup
4.2 Experiment Result
5 Conclusion and Future Work
References
Sparse Sensing in Ergodic Optimization
1 Introduction
2 Prior Work
3 Sparse Sensing in Ergodic Optimization
3.1 Sparse Ergodic Optimization
3.2 Multi-agent Sparse Ergodic Optimization
4 Results and Discussion
4.1 Experimental Details
4.2 Single Agent Sensing Distribution
4.3 Multi-agent Sparse Ergodic Optimization
5 Conclusion
References
Distributed Multi-robot Tracking of Unknown Clustered Targets with Noisy Measurements
1 Introduction
2 Problem Formulation
2.1 Lloyd's Algorithm
3 Distributed Multi-target Tracking
3.1 Instantaneous State Estimation
3.2 Cumulative State Estimation
3.3 Environment Approximation
3.4 Distributed Control
3.5 Algorithm Outline
4 Simulations
4.1 Qualitative Comparison
4.2 Quantitative Comparison
5 Conclusions
References
A Force-Mediated Controller for Cooperative Object Manipulation with Independent Autonomous Robots
1 Background
2 Related Work
3 Challenges and Assumptions
4 Control Methodology
4.1 Closed Loop Control Dynamics
4.2 Inertial Estimation and Error Compensation
4.3 Controller Stability
4.4 Task-Frame Switching
5 Experimental Validation
5.1 Implementation in Hardware
5.2 Implementation in Simulation
6 Results
6.1 Controller Performance Within Static Task Domain
6.2 Controller Performance with a Changing Task Domain
6.3 Multi-robot Performance with Changing Task Domain
7 Discussion
References
A Distributed Architecture for Onboard Tightly-Coupled Estimation and Predictive Control of Micro Aerial Vehicle Formations
1 Introduction
2 Problem Formulation
3 Methodology
3.1 Follower Estimation Scheme
3.2 Follower Controller Scheme
4 Experiments and Results
4.1 Formation Navigation
4.2 Formation Reconfiguration
4.3 Discussion
5 Conclusion
References
Search Space Illumination of Robot Swarm Parameters for Trustworthy Interaction
1 Introduction
2 Methodology
2.1 Scenario
2.2 Swarm Metrics
2.3 Map-Elites Illumination Algorithm Methodology
3 Results
3.1 Qualitative Analysis: Case Study
4 Conclusion and Future Work
References
Collective Gradient Following with Sensory Heterogeneous UAV Swarm
1 Introduction
2 Methodology
3 Experimental Setup
4 Results and Discussion
5 Conclusion
References
DAN: Decentralized Attention-Based Neural Network for the MinMax Multiple Traveling Salesman Problem
1 Introduction
2 Prior Works
3 Problem Formulation
4 mTSP as an RL PROBLEM
5 DAN: Decentralized Attention-Based Network
6 Training
7 Experiments
7.1 Results
7.2 Discussion
8 Conclusion
References
Receding Horizon Control on the Broadcast of Information in Stochastic Networks
1 Introduction
2 Background and Problem Formulation
2.1 Graph Theory
2.2 Information Propagation Model
3 Methodology
3.1 Control Strategy
3.2 Expected Time to Broadcast Information
3.3 Robust Moment Closure
4 Numerical Evaluation and Discussions
5 Conclusions and Future Work
References
Adaptation Strategy for a Distributed Autonomous UAV Formation in Case of Aircraft Loss
1 Introduction
2 Adaptation Algorithm for a Decentralized UAV Formation
2.1 Distributed Autonomous System Model
2.2 Adaptation Strategy for a Distributed Autonomous System
3 Simulation Results and Discussion
4 Conclusions
References
DGORL: Distributed Graph Optimization Based Relative Localization of Multi-robot Systems
1 Introduction
2 Related Work
3 Problem Formulation and the Proposed DGORL Solution
3.1 Graph Formation
3.2 Expansion Through Transition
3.3 Optimization
4 Theoretical Analysis
5 Simulation Experiments and Results
6 Conclusion
References
Characterization of the Design Space of Collective Braitenberg Vehicles
1 Introduction
1.1 Related Work
2 Model and Simulation
2.1 Agent Model
2.2 World
2.3 Metrics
3 Emergent Behaviors
3.1 Behavior Characterization
3.2 General Observations
3.3 Love
3.4 Aggression
3.5 Fear
3.6 Curiosity
4 Conclusion and Outlook
References
Decision-Making Among Bounded Rational Agents
1 Introduction
2 Related Work
3 Problem Formulation
3.1 Multi-agent Markov Decision Process
3.2 Iterative Best Response for MMDPs
4 Methodology
4.1 Bounded Rational Agents in Game-Theoretic Framework
4.2 Importance Sampling for Computing Bounded-Rational Strategies
5 Simulated Experiments
5.1 Simulation Setup
5.2 Results
6 Physical Experiments
7 Conclusion
References
Distributed Multi-robot Information Gathering Using Path-Based Sensors in Entropy-Weighted Voronoi Regions
1 Introduction
2 Problem Formulation
3 Distributed Information Gathering
3.1 Distributed Entropy Voronoi Partition and Planner (DEVPP)
3.2 Multi-agent Distributed Information-Theoretic Planner (MA-DITP)
3.3 Multi-agent Global Information-Theoretic Planner (MA-GITP)
4 Experiments and Results
5 Conclusion
References
Distributed Multiple Hypothesis Tracker for Mobile Sensor Networks
1 Introduction
2 Background
2.1 MHT Definition
2.2 Lloyd's Algorithm
3 Distributed Multiple Hypothesis Tracker
3.1 Assumptions
3.2 Track Exchange and Fusion
3.3 Importance Weighting Function
4 Results
4.1 Performance Metric
4.2 Stationary Targets
4.3 Dynamic Targets
4.4 Discussion
5 Conclusion
References
Distributed Multirobot Control for Non-cooperative Herding
1 Introduction
2 Prior Work
3 Problem Formulation
4 Controller Design
4.1 Approach 1: One Dog to One Sheep Allocation Based Approach
4.2 Approach 2: Iterative Distributed Reformulation of (12)
5 Results
5.1 Simulation Results
5.2 Robot Experiments
6 Conclusions
7 Appendix: Proof of Feasibility for Approach 1
References
On Limited-Range Coverage Control for Large-Scale Teams of Aerial Drones: Deployment and Study
1 Introduction
2 Methods
2.1 Coverage Control Strategy
2.2 Simulation Protocol
2.3 Field Test Protocol
2.4 Metrics
3 Results and Discussion
3.1 Simulation Results
3.2 Results of Field Tests
4 Conclusions
References
MARLAS: Multi Agent Reinforcement Learning for Cooperated Adaptive Sampling
1 Introduction
2 Problem Formulation
3 Approach
4 Experiments and Results
4.1 Analyzing Scalability of Learned Policy
4.2 Analyzing Robustness of the Learned Policy
4.3 Online Adaptations to the Changing Field
4.4 Robot Experiments
5 Conclusion and Future Work
References
Proportional Control for Stochastic Regulation on Allocation of Multi-robots
1 Introduction
2 Problem Formulation
2.1 Graph Theory
2.2 Ensemble Model
3 Methodology
3.1 Control Strategy
3.2 Control Analysis
4 Results
4.1 Numerical Simulations
4.2 Experimental Results
5 Discussion
6 Conclusions and Future Work
References
Comparing Stochastic Optimization Methods for Multi-robot, Multi-target Tracking
1 Introduction
1.1 Related Work
1.2 Contributions
2 Problem Formulation
2.1 PHD Filter
2.2 Lloyd's Algorithm
2.3 Distributed PHD Filter
2.4 Assumptions
3 Distributed Control
3.1 Simulated Annealing
3.2 Particle Swarm Optimization
3.3 Communication and Complexity
4 Experimental Results
4.1 Evaluation Metric
4.2 Stationary Targets
4.3 Dynamic Targets
5 Conclusion
References
Multi-agent Deep Reinforcement Learning for Countering Uncrewed Aerial Systems
1 Introduction
1.1 Related Work
2 Problem Formulation
3 Multi-agent Deep Reinforcement Learning for C-UAS
3.1 Proximal Policy Optimization Based Advantage Actor Critic
3.2 Parameter Sharing
4 Simulation Results
5 Conclusion
References
Decentralized Risk-Aware Tracking of Multiple Targets
1 Introduction
2 Related Work
3 Problem Formulation
3.1 Notation
3.2 Robot and Target Modeling
3.3 Problem Definition
4 Approach
4.1 Decentralized Goal Position Generation
4.2 Decentralized Motion Synthesis
4.3 Decentralized Target Position Estimation
5 Experiments
5.1 Decentralized Tracking
5.2 Comparison to Centralized Target Tracking
6 Conclusion and Future Work
References
Application of 3D Printed Vacuum-Actuated Module with Multi-soft Material to Support Handwork Rehabilitation
1 Introduction
2 MORI-A FleX: The Vacuum-Actuated Module with 3D Printed Flexible Connectors
2.1 Creation Procedure of MORI-A FleX
2.2 TPU Internal Construction
2.3 3D Printed Flexible Connector
3 MORI-A Flex Mechanical Properties
3.1 Load Displacement Performance
3.2 Coefficient of Friction with Texture Change Connector
4 Applications
5 Conclusion
References
Combining Hierarchical MILP-MPC and Artificial Potential Fields for Multi-robot Priority-Based Sanitization of Railway Stations
1 Introduction and Related Works
2 Architecture
3 Experiments and Comparison with MARL Technique
4 Conclusions
References
Exploration System for Distributed Swarm Robots Using Probabilistic Action Decisions
1 Introduction
2 The Proposed Exploration Swarm Robot System and Area Control Algorithm
2.1 Distributed Robot System for Wide-Area Exploration by Swarm Robots
2.2 Overview of the Region Control Algorithm with Probabilistic Action Decision
2.3 Algorithm for Probabilistic Action Decision Making
3 Evaluation by Simulation
3.1 Algorithm Verification by Simulator and Comparison of Search Efficiency by Changing Control Parameters
4 Development and Implementation of Exploration Systems
4.1 Hardware Development of the Robot for Actual Equipment Verification
4.2 Software and Exploration System Configuration
5 Exploration Field Tests and Results
5.1 Description of Experimental Environment/conditions and Data Collected
5.2 Examination of Collected Data
6 Conclusion
References
Distributed Estimation of Scalar Fields with Implicit Coordination
1 Introduction
2 Related Work
3 Problem Statement
4 Methods
4.1 Gaussian Process Regression
4.2 Spatial Prior
4.3 Exploration
4.4 Vertex Quality Computation
5 Experimental Evaluation and Discussion
6 Conclusion
References
A Constrained-Optimization Approach to the Execution of Prioritized Stacks of Learned Multi-robot Tasks
1 Introduction
2 Background and Related Work
2.1 Multi-task Learning, Composition, and Execution
2.2 Constraint-Based Task Execution
2.3 From Dynamic Programming to Constraint-Driven Control
3 Prioritized Multi-task Execution
4 Experimental Results
4.1 Multi-robot Tasks
4.2 Discussion
5 Conclusion
A Comparison Between Optimal Control, Optimization-Based Control, and RL Policy
B Implementation Details
References
A Comparison of Two Decoupled Methods for Simultaneous Multiple Robots Path Planning
1 Introduction
2 Related Work
3 Planning Algorithms
3.1 Problem Formulation
3.2 Decoupled Prioritized Planning (PP)
3.3 Decoupled Fixed-Path Coordination (FPC)
4 Numerical Experiments
4.1 Illustrative Test Cases
4.2 Monte Carlo Simulations
5 Conclusion
References
Smarticle 2.0: Design of Scalable, Entangled Smart Matter
1 Introduction
2 Background and Related Work
3 Electro-mechanical Design
4 Fabrication
5 Characterization
6 Multi-robot Demonstrations
7 Summary
References
Hybrid Flock - Formation Control Algorithms
1 Introduction
2 Methodology
2.1 Pot2Lapl
2.2 Flock2Lapl
3 Experimental Evaluation
3.1 Robotic Platform
3.2 Evaluation Metrics
3.3 Experimental Setup
3.4 Characterization Experiment
3.5 Narrow Passage Experiment
4 Results and Discussion
5 Conclusion
References
Multi-Robot Systems Research: A Data-Driven Trend Analysis
1 Introduction
2 Exhaustive Search
2.1 Methodology
2.2 Findings from Journal-Specific Analysis
2.3 Findings from Trend Analysis
3 Expert Survey
3.1 Methodology
3.2 Findings
4 Conclusions
References
Coverage Control for Exploration of Unknown Non-convex Environments with Limited Range Multi-robot Systems
1 Introduction
2 Problem Statement
3 Distributed Control Algorithm for Exploration
4 Time-Varying Probability Density Function for Exploration
5 Simulations and Experiments
5.1 Implementation
5.2 Results and Discussion
6 Conclusions
References
Author Index

Systemvoraussetzungen

Als PDF speichern Als Link merken