RECEN:Resilient MANET Based Centralized Multi Robot System Using Mobile Agent System

Kang, Hangil; Kim, Ho-Young; Kwon, Young Min

doi:10.1109/ssci44817.2019.9002704

Cited by 8 publications

(5 citation statements)

References 21 publications

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“…i j denote the neighbors of robot i. Then, we utilize the left nullspace projection to the stacked common point or line feature Jacobian matrix in (23) and obtain a new residual system that is independent of the common feature as:…”

Section: E Common Point and Line Feature Updatementioning

confidence: 99%

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PL-CVIO: Point-Line Cooperative Visual-Inertial Odometry

Zhang,

Zhu,

Ren

2023

2023 IEEE Conference on Control Technology and Applications (CCTA)

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Low-feature environments are one of the main Achilles' heels of geometric computer vision (CV) algorithms. In most human-built scenes often with low features, lines can be considered complements to points. In this paper, we present a multi-robot cooperative visual-inertial navigation system (VINS) using both point and line features. By utilizing the covariance intersection (CI) update within the multi-state constraint Kalman filter (MSCKF) framework, each robot exploits not only its own point and line measurements, but also constraints of common point and common line features observed by its neighbors. The line features are parameterized and updated by utilizing the Closest Point representation. The proposed algorithm is validated extensively in both Monte-Carlo simulations and a real-world dataset. The results show that the point-line cooperative visual-inertial odometry (PL-CVIO) outperforms the independent MSCKF and our previous work CVIO in both low-feature and rich-feature environments.

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Section: E Common Point and Line Feature Updatementioning

confidence: 99%

“…The robot applies an update to improve the localization performance by utilizing the common feature constraints. There exist some centralized multi-robot solutions [21]- [23]. They usually require expensive computation and communication.…”

Section: Introduction and Related Workmentioning

confidence: 99%

PL-CVIO: Point-Line Cooperative Visual-Inertial Odometry

Zhang,

Zhu,

Ren

2023

2023 IEEE Conference on Control Technology and Applications (CCTA)

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“…Several types/classes of approaches have been proposed by the community in the literature. We distinguish by the way they control the swarm: centralized [38][39][40], decentralized [38,41] or hybrid, and the mechanism used to determine the individual node movement: location- [42], virtual force- [43] or machine learning-based [44][45][46]. The approach presented in Section 4 is decentralized: the drones in the MANET base their movement and connectivity decisions entirely on local information.…”

Section: Scope Of the Papermentioning

confidence: 99%

Force-Based Self-Organizing MANET/FANET with a UAV Swarm

Saffre,

Hildmann,

Anttonen

2023

Future Internet

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This paper introduces a novel distributed algorithm designed to optimize the deployment of access points within Mobile Ad Hoc Networks (MANETs) for better service quality in infrastructure-less environments. The algorithm operates based on local, independent execution by each network node, thus ensuring a high degree of scalability and adaptability to changing network conditions. The primary focus is to match the spatial distribution of access points with the distribution of client devices while maintaining strong connectivity to the network root. Using autonomous decision-making and choreographed path-planning, this algorithm bridges the gap between demand-responsive network service provision and the maintenance of crucial network connectivity links. The assessment of the performance of this approach is motivated by using numerical results generated by simulations.

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“…Creating a task allocation strategy that can handle the diversity of tasks and robots is an important challenge; which ensures a seamless distribution of capabilities and resources. Considerable advancements have been attained in multiple task allocation methodologies that derive from diverse approaches [14] such as centralized approaches [15], decentralized approaches [16], cloud approaches [17] and market-based approaches [18]. These methods do, however, have some drawbacks that highlight the demand for more development.…”

Section: Introductionmentioning

confidence: 99%

A New Method for Improving the Fairness of Multi-Robot Task Allocation by Balancing the Distribution of Tasks

Msala,

Hamed,

Talea

et al. 2023

Journal of Robotics and Control

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This paper presents an innovative task allocation method for multi-robot systems that aims to optimize task distribution while taking into account various performance metrics such as efficiency, speed, and cost. Contrary to conventional approaches, the proposed method takes a comprehensive approach to initialization by integrating the K-means clustering algorithm, the Hungarian method for solving the assignment problem, and a genetic algorithm specifically adapted for Open Loop Travel Sales Man Problem (OLTSP). This synergistic combination allows for a more robust initialization, effectively grouping similar tasks and robots, and laying a strong foundation for the subsequent optimization process. The suggested method is flexible enough to handle a variety of situations, including Multi-Robot System (MRS) with robots that have unique capabilities and tasks of varying difficulty. The method provides a more adaptable and flexible solution than traditional algorithms, which might not be able to adequately address these variations because of the heterogeneity of the robots and the complexity of the tasks. Additionally, ensuring optimal task allocation is a key component of the suggested method. The method efficiently determines the best task assignments for robots through the use of a systematic optimization approach, thereby reducing the overall cost and time needed to complete all tasks. This contrasts with some existing methods that might not ensure optimality or might have limitations in their ability to handle a variety of scenarios. Extensive simulation experiments and numerical evaluations are carried out to validate the method's efficiency. The extensive validation process verifies the suggested approach's dependability and efficiency, giving confidence in its practical applicability.

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RECEN:Resilient MANET Based Centralized Multi Robot System Using Mobile Agent System

Cited by 8 publications

References 21 publications

PL-CVIO: Point-Line Cooperative Visual-Inertial Odometry

PL-CVIO: Point-Line Cooperative Visual-Inertial Odometry

Force-Based Self-Organizing MANET/FANET with a UAV Swarm

A New Method for Improving the Fairness of Multi-Robot Task Allocation by Balancing the Distribution of Tasks

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