Coordinating Very Large Groups of Wide Area Search Munitions

Scerri, Paul; Liao, Elizabeth; Lai, Justin; Sycara, Katia; Xu, Yang; Lewis, Mike

doi:10.1142/9789812796592_0020

Cited by 36 publications

(28 citation statements)

References 30 publications

(26 reference statements)

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“…The system was designed to be scalable to allow of control different numbers of robots, reconfigurable to accommodate different human-robot interfaces, and reusable to facilitate testing different control algorithms. It provides facilities for starting and controlling robots in the simulation, displaying camera and laser output, and supporting inter-robot communication through Machinetta, a distributed mutiagent system with state-of-the-art algorithms for plan instantiation, role allocation, information sharing, task deconfliction and adjustable autonomy (Scerri et al 2004). The user interface of MrCS is shown in Figure 8.…”

Section: Multirobot Control System (Mrcs)mentioning

confidence: 99%

Coordination Demand in Human Control of Heterogeneous Robot

Wang¹,

Lewis²

2009

Advances in Human-Robot Interaction

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Section: Multirobot Control System (Mrcs)mentioning

confidence: 99%

Coordination Demand in Human Control of Heterogeneous Robot

Wang¹,

Lewis²

2009

Advances in Human-Robot Interaction

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“…These efforts have included theoretical and applied development of the Neglect Tolerance model and Fan-out model to characterize the control of independently operating robots 1,2 , predefined rules to coordinate cooperating robots as in Playbook 3 and Machinetta 4 , and techniques for influencing teams obeying biologically inspired control laws 5,6,7 . While our efforts to increase span of control over unmanned vehicle (UV) teams appear to be making progress, the asymmetry between what we can command and what we can comprehend has been growing.…”

Section: Introductionmentioning

confidence: 99%

“…Synchronous displays from multiple robots can easily overwhelm an operator who must search multiple 1 Professor, School of Information Sciences, 135 N. Bellefield Ave. 2 Ph.D. Student, School of Information Sciences, 135 N. Bellefield Ave. 3 Postdoctoral Fellow, Robotics Institute, 5000 Forbes Ave. 4 Research Professor, Robotics Institute, 5000 Forbes Ave. 5 Ph.D. Student, Robotics Institute, 5000 Forbes Ave. 6 Associate Research Professor, Robotics Institute, 5000 Forbes Ave. C video streams for targets. If targets are plentiful, the operator will likely miss targets that enter and leave unattended views while occupied with targets in attended views.…”

Section: Introductionmentioning

confidence: 99%

Asynchronous Displays for Multi-UV Search Tasks

Lewis

Wang

Kolling

et al. 2012

Infotech@Aerospace 2012

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Synchronous video has long been the preferred mode for controlling remote robots with other modes such as asynchronous control only used when unavoidable as in the case of interplanetary robotics. We identify two basic problems for controlling multiple robots using synchronous displays: operator overload and information fusion. Synchronous displays from multiple robots can easily overwhelm an operator who must search video for targets. If targets are plentiful, the operator will likely miss targets that enter and leave unattended views while dealing with others that were noticed. The related fusion problem arises because robots' multiple fields of view may overlap forcing the operator to reconcile different views from different perspectives and form an awareness of the environment by "piecing them together". We have conducted a series of experiments investigating the suitability of asynchronous displays for multi-UV search. Our first experiments involved static panoramas in which operators selected locations at which robots halted and panned their camera to capture a record of what could be seen from that location. A subsequent experiment investigated the hypothesis that the relative performance of the panoramic display would improve as the number of robots was increased causing greater overload and fusion problems. In a subsequent Image Queue system we used automated path planning and also automated the selection of imagery for presentation by choosing a greedy selection of non-overlapping views. A fourth set of experiments used the SUAVE display, an asynchronous variant of the picture-in-picture technique for video from multiple UAVs. The panoramic displays which addressed only the overload problem led to performance similar to synchronous video while the Image Queue and SUAVE displays which addressed fusion as well led to improved performance on a number of measures. In this paper we will review our experiences in designing and testing asynchronous displays and discuss challenges to their use including tracking dynamic targets.

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“…The Rules (1)(2)(3)(4) and Theorem 1 ensure that only one agent will be assigned to one cell among the neighbours. However, there can be multiple assignment to the same cell.…”

Section: Agent Based Negotiation Schemementioning

confidence: 99%

“…In [3], a team of UAVs is given the task of searching a region with unknown opportunities and hazards with an objective that the team has to maximize the regions of opportunity visited, while minimizing visits to regions of hazard, subject to constraints that the UAVs must remain connected by a communication network at all times and avoid collisions among themselves. Coordinating large number of UAVs for wide area search munitions using an agent architecture is discussed in [4], where the authors use the concept of teamwork in multi-agent systems for team plan sharing and instantiation, role allocation for the UAVs, and realtime onboard information updates. In [5], a knowledgebased framework is proposed for multiple agents performing…”

Section: Introductionmentioning

confidence: 99%

Multiple UAV search using agent based negotiation scheme

Sujit

Ghose

Proceedings of the 2005, American Control Conference, 2005.

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Abstract-In this paper, we present an agent based negotiation scheme for multiple UAVs performing search operation on an unknown region. The UAVs are subjected to limited sensor range and can communicate with their neighbouring UAVs only. The UAVs use negotiation as the decision making mechanism for obtaining search paths. The scheme is scalable to large number of UAVs without much computational burden. We study the performance of uncertainty reduction strategies using negotiation schemes with different levels of information structures. The simulation results show that the search based on negotiation scheme with various kinds of information structures outperforms random and greedy strategies with identical information structures. I. INTRODUCTIONThe use of unmanned aerial vehicles for search and surveillance operations in unknown and hostile regions is becoming a reality. Coordinating these aerial vehicles, which perform the operation autonomously, is a difficult task. Usually, these vehicles have limited communication and decision-making capability. With large number of agents the computational overhead on the decision-making and coordination mechanism becomes high. In this paper, we present an agent-based negotiation scheme that scales well with increase in number of agents/vehicles and demands modest computational time.Cooperative search using multiple vehicles has wide variety of applications, such as search, surveillance, disaster management, task allocation, sensor networks, etc, and has attracted the attention of several researchers in recent times. In [1], [2], the authors address the problem of searching an unknown region with multiple vehicles cooperatively. A recursive approach is used for cooperative search using a multi-objective cost function, and q-step path planning. In [3], a team of UAVs is given the task of searching a region with unknown opportunities and hazards with an objective that the team has to maximize the regions of opportunity visited, while minimizing visits to regions of hazard, subject to constraints that the UAVs must remain connected by a communication network at all times and avoid collisions among themselves. Coordinating large number of UAVs for wide area search munitions using an agent architecture is discussed in [4], where the authors use the concept of teamwork in multi-agent systems for team plan sharing and instantiation, role allocation for the UAVs, and realtime onboard information updates. In [5], a knowledgebased framework is proposed for multiple agents performing

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Coordinating Very Large Groups of Wide Area Search Munitions

Cited by 36 publications

References 30 publications

Coordination Demand in Human Control of Heterogeneous Robot

Coordination Demand in Human Control of Heterogeneous Robot

Asynchronous Displays for Multi-UV Search Tasks

Multiple UAV search using agent based negotiation scheme

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