Distributed intelligence: overview of the field and its application in multi-robot systems

Parker, Lynne E.

doi:10.14198/jopha.2008.2.1.02

Cited by 149 publications

(123 citation statements)

References 124 publications

(125 reference statements)

Supporting

Mentioning

108

Contrasting

Unclassified

Order By: Relevance

“…We base our categorization of collision scenarios in multi-robot coverage on the categorization of coverage behaviors by [2] and the categorization of interactions among agents by [7], where interactions are classified along the axes of "individual or shared goals", "actions advance goals of others", and "awareness of others". For the multi-robot coverage tasks of our interest, we assume that the robots are aware of each other.…”

Section: Categorization Of Collision Scenariosmentioning

confidence: 99%

“…• Intragroup and intergroup collision avoidance: According to [7], robots may share common goals or have individual differing goals. Robots with shared common goals form a team or group.…”

Section: Categorization Of Collision Scenariosmentioning

confidence: 99%

“…Similar to [7], we measure cooperativeness by whether the actions of one robot influences the goals of other robots (both individual or shared goals) in a positive or negative way. Positive influence represents cooperative behaviors, neutral or negative influence represents non-cooperative, including competing or adversary, behaviors.…”

Section: Categorization Of Collision Scenariosmentioning

confidence: 99%

See 2 more Smart Citations

On Combining Multi-robot Coverage and Reciprocal Collision Avoidance

Breitenmoser

Martinoli

2016

Springer Tracts in Advanced Robotics

View full text Add to dashboard Cite

Although robotic coverage and collision avoidance are active areas of robotics research, the avoidance of collision situations between robots has often been neglected in the context of multi-robot coverage tasks. In fact, for robots of physical size, collisions are likely to happen during deployment and coverage in densely packed multi-robot configurations. For this reason, we aim to motivate by this paper the combined use of multi-robot coverage and reciprocal collision avoidance. We present a taxonomy of collision scenarios in multi-robot coverage problems. In particular, coverage tasks with built-in heterogeneity such as multiple antagonistic objectives or robot constraints are shown to benefit from the combination. Based on our taxonomy, we evaluate four representative robotic use cases in simulation by combining the specific methods of Voronoi coverage and reciprocal velocity obstacles.

show abstract

Section: Categorization Of Collision Scenariosmentioning

confidence: 99%

Section: Categorization Of Collision Scenariosmentioning

confidence: 99%

Section: Categorization Of Collision Scenariosmentioning

confidence: 99%

See 1 more Smart Citation

On Combining Multi-robot Coverage and Reciprocal Collision Avoidance

Breitenmoser

Martinoli

2016

Springer Tracts in Advanced Robotics

View full text Add to dashboard Cite

show abstract

“…Thus a variety of robot architectures and control methods have been proposed that avoid this by various assumptions about communication among the agents, types of tasks, and allocation of responsibility [16], [15], [8], [5]. Relatively little prior work considers distributed robotics where tasks are formally specified using LTL.…”

Section: Introductionmentioning

confidence: 99%

Decoupled Formal Synthesis for Almost Separable Systems with Temporal Logic Specifications

Livingston

Prabhakar

2016

Springer Tracts in Advanced Robotics

View full text Add to dashboard Cite

We consider the problem of synthesizing controllers automatically for distributed robots that are loosely coupled using a formal synthesis approach. Formal synthesis entails construction of game strategies for a discrete transition system such that the system under the strategy satisfies a specification, given for instance in linear temporal logic (LTL). The general problem of automated synthesis for distributed discrete transition systems suffers from state-space explosion because the combined state-space has size exponential in the number of subsystems. Motivated by multi-robot motion planning problems, we focus on distributed systems whose interaction is nearly decoupled, allowing the overall specification to be decomposed into specifications for individual subsystems and a specification about the joint system. We treat specifically reactive synthesis for the GR(1) fragment of LTL. Each robot is subject to a GR(1) formula, and a safety formula describes constraints on their interaction. We propose an approach wherein we synthesize strategies independently for each subsystem; then we patch the separate controllers around interaction regions such that the specification about the joint system is satisfied.

show abstract

“…The objective of this work is generalizing the above ideas to deal with MRSs as well as incorporating constraint prioritization situations. Other ways to tackle constraint-satisfaction and coordination problems in robotic systems are artificial intelligence [17], neural networks [18], fuzzy logic [19], genetic algorithms [20], etc.…”

Section: Introductionmentioning

confidence: 99%

Robot coordination using task-priority and sliding-mode techniques

Gracia

Sala

Garelli

2014

Robotics and Computer-Integrated Manufacturing

View full text Add to dashboard Cite

ElsevierGracia Calandin, LI.; Sala Piqueras, A.; Garelli, F. (2014) AbstractIn this work, an approach based on task-priority redundancy resolution and sliding mode ideas is proposed for robot coordination. In particular, equality and inequality constraints representing the coordination of the multi-robot system are considered as mandatory (for instance, rigid-body manipulation constraints to distance between the end-effectors of several robot arms, or other inequality constraints guaranteeing safe operation of a robotic swarm or confining the robot's workspace to avoid collision and joint limits). Besides the mandatory constraints, other constraints with lower priority are considered for the tracking of the workspace reference and to achieve secondary goals. Thus, lower-priority constraints are satisfied only in the null space of the higher-priority ones. The fulfillment of the constraints is achieved using geometric invariance and sliding mode control theory. The validity and effectiveness of the proposed approach is substantiated by 2D and 3D simulation results using two 3R planar robots and two 6R PUMA-762 robots, respectively.

show abstract

Distributed intelligence: overview of the field and its application in multi-robot systems

Cited by 149 publications

References 124 publications

On Combining Multi-robot Coverage and Reciprocal Collision Avoidance

On Combining Multi-robot Coverage and Reciprocal Collision Avoidance

Decoupled Formal Synthesis for Almost Separable Systems with Temporal Logic Specifications

Robot coordination using task-priority and sliding-mode techniques

Contact Info

Product

Resources

About