Robot Ecology

Name: Robot Ecology | Constraint-Based Design for Long-Duration Autonomy
Brand: Princeton University Press
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Constraint-Based Design for Long-Duration Autonomy

Magnus Egerstedt(Autor*in)

Princeton University Press

1. Auflage

Erschienen am 28. Dezember 2021

360 Seiten

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978-0-691-23007-8 (ISBN)

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Inhalt

Cover
Contents
Preface
I. Long-Duration Autonomy
1. Introduction
1.1 Long-Duration Autonomy
1.1.1 Lessons from Mars
1.1.2 Operations Beyond a Single Battery Charge
1.1.3 On the Value of Slowness
1.2 Survivability
1.2.1 Costs and Constraints
1.2.2 Robots that Do (Almost) Nothing
1.3 Coupling Between Environment and Robot
1.3.1 Ecosystems
1.3.2 Natural and Engineered Environments
1.4 Summarizing and Looking Ahead
2. Survival of the Robots
2.1 Behavior-Based Robotics
2.1.1 Behaviors in Robots and Animals
2.1.2 Arbitration Mechanisms
2.2 Multi-Robot Behaviors
2.2.1 Flocking and Swarming
2.2.2 Coordinated Control
2.2.3 Formation Control
2.2.4 Coverage Control
2.3 The Combinatorics of the Real World
2.3.1 Elephants Don't Play Chess
2.3.2 Technology Readiness Levels
2.3.3 Constraints and Laws of Robotics
3. Ecological Connections
3.1 Organisms and Environments
3.1.1 Consumers and Resources
3.1.2 Niches and Fitness Sets
3.2 Interactions
3.2.1 Fecundity and Survival
3.2.2 Competition
3.2.3 Predators and Parasites
3.2.4 Social Behaviors
3.3 Ecologically Inspired Constraints
3.3.1 Ideal Free Distributions
3.3.2 Competitive and Cooperative Interactions
3.3.3 Thermoregulation and Task Persistification
3.3.4 Towards Robot Ecology
II. Constraint-Based Control
4. Constraints and Barriers
4.1 Forward Invariance
4.1.1 Collision-Avoidance
4.1.2 Remaining Safe Forever
4.1.3 Nagumo and the Comparison Lemma
4.2 Control Barrier Functions
4.2.1 Optimization-Based Control
4.2.2 Further Considerations
4.2.3 Survivability Constraints
4.3 Collision-Avoidance
4.3.1 Centralized Safety Barriers
4.3.2 Decentralized Safety Barriers
4.4 Safe Learning
4.4.1 Learning Barrier Functions
4.4.2 Applications to Aerial Robotics
5. Persistification of Robotic Tasks
5.1 Energy Dynamics
5.1.1 Environmental Interactions
5.1.2 Task Persistification
5.2 Variations on the CBF Theme
5.2.1 High Relative Degree Barrier Functions
5.2.2 Time Varying Barrier Functions
5.2.3 Solving the Persistification Problem
5.3 Environmental Monitoring
5.3.1 Exploration
5.3.2 Coverage
6. Composition of Barrier Functions
6.1 Boolean Composition
6.1.1 Disjunctions and Conjunctions
6.1.2 Secondary Operations
6.2 Non-Smooth Barrier Functions
6.2.1 Generalized Gradients
6.2.2 Set-Valued Lie Derivatives
6.3 Min/Max Barrier Functions
6.3.1 Boolean Composition of Barrier Functions
6.3.2 Navigation Example
6.4 Connectivity-Preserving Coordinated Control
6.4.1 Composite Safety and Connectivity Barrier Functions
6.4.2 Maintaining Dynamic Connectivity Graphs
III. Robots in the Wild
7. Robot Ecology
7.1 Constraints From Behavioral Ecology
7.1.1 Constituent Constraints
7.1.2 Survivability Constraints
7.2 Goal-Driven Behaviors
7.2.1 From Gradient Descent to Barrier-Based Descent
7.2.2 Costs as Constraints
7.2.3 Finite-Time Performance
7.3 Goal-Driven Multi-Robot Systems
7.3.1 Formation and Coverage Control Revisited
7.3.2 Sequential Composition of Behaviors
7.4 Putting It All Together
7.4.1 A Purposeful Yet Safe Expenditure of Energy
7.4.2 The End Game
8. Environmental Monitoring
8.1 Monitoring in Natural Environments
8.1.1 Biodiversity
8.1.2 Microclimates and Ecological Niche Models
8.1.3 Under the Tree Canopies
8.2 Wire-Traversing Robots
8.2.1 Design Considerations
8.2.2 Mechanical Design
8.3 The SlothBot
8.3.1 Motion Planning and Control
8.3.2 Long-Duration Deployment
9. Autonomy-on-Demand
9.1 Recruitable Robots
9.1.1 Task Specifications
9.1.2 Remote Access Control in the Robotarium
9.2 The Robotarium: An Autonomy-on-Demand Multi-Robot Platform
9.2.1 The Impetus Behind Remote-Access Robotics
9.2.2 Testbed Design
9.2.3 Safety and Robust Barrier Functions
9.3 Remote Experimentation
9.3.1 Submission Process
9.3.2 The Robotarium Userbase
9.3.3 User Experiments
9.3.4 Case Studies
Bibliography
Index

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