Spatially targeted communication in decentralized multirobot systems

详细信息    查看全文

• 作者：Nithin Mathews (1)
  Gabriele Valentini (1)
  Anders Lyhne Christensen (2)
  Rehan O鈥橤rady (1)
  Arne Brutschy (1)
  Marco Dorigo (1)
  
  1. IRIDIA-CoDE ; Universit茅 Libre de Bruxelles ; Avenue Franklin Roosevelt 50 ; CP 194/6 ; 1050 ; Brussels ; Belgium
  2. Instituto de Telecomunica莽玫es ; Instituto Universit谩rio de Lisboa (ISCTE-IUL) ; Avenida For莽as Armadas ; 1649-026 ; Lisboa ; Portugal
  
• 关键词：Decentralized multirobot systems ; Robot swarms ; Air ; ground robot teams ; Spatial coordination ; Inter ; robot communication
• 刊名：Autonomous Robots
• 出版年：2015
• 出版时间：April 2015
• 年：2015
• 卷：38
• 期：4
• 页码：439-457
• 全文大小：2,034 KB
• 参考文献：1. Barnhard, D. H., McClain, J. T., Wimpey, B. J., & Potter, W. D. (2004). Odin and Hodur: Using bluetooth communication for coordinated robotic search. In / Proceedings of the 2004 International Conference on Artificial Intelligence (IC-AI 2004) (pp. 365鈥?71). Athens, GA: CSREA Press.
  2. Bolla, K., Istenes, Z., Kovacs, T., & Fazekas, G. (2011). A fast image processing based robot identification method for Surveyor SRV-1 robots. In / Proceedings of 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2011) (pp. 1003鈥?009). New York, NY: ASME.
  3. Bonani, M., Longchamp, V., Magnenat, S., R茅tornaz, P., Burnier, D., Roulet, G., et al. (2010). The marXbot, a miniature mobile robot opening new perspectives for thecollective-robotic research. In / Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010) (pp. 4187鈥?193). Los Alamitos, CA: IEEE Computer Society Press.
  4. Bristeau, P. J., Callou, F., Vissi猫re, D., & Petit, N. (2011). The navigation and control technology inside the AR.Drone micro UAV. In / Proceedings of the 18th IFAC World Congress, IFAC-PapersOnLine (pp. 1477鈥?484). Centerville, OH.
  5. Campo, A., Nouyan, S., Birattari, M., Gro脽, R., & Dorigo, M. (2006). Negotiation of goal direction for cooperative transport. In / Ant Colony Optimization and Swarm Intelligence鈥擯roceedings of ANTS 2006 鈥?Fifth International Workshop, vol 4150 (pp. 191鈥?02). Berlin, Germany: Springer.
  6. Chaimowicz, L., Sugar, T., Kumar, V., & Campos, M. F. M. (2001). An architecture for tightly coupled multi-robot cooperation. In / Proceedings of the 2001 IEEE International Conference on Robotics and Automation (ICRA 2001) vol 3, (pp. 2992鈥?997). Piscataway, NJ: IEEE Press.
  7. Christensen, AL, O鈥橤rady, R, Dorigo, M (2007) Morphology control in a self-assembling multi-robot system. IEEE Robotics & Automation Magazine 14: pp. 18-25 CrossRef
  8. Christensen, AL, O鈥橤rady, R, Dorigo, M (2008) SWARMORPH-script: A language for arbitrary morphology generation in self-assembling robots. Swarm Intelligence 2: pp. 143-165 CrossRef
  9. Dorigo, M, Floreano, D, Gambardella, LM, Mondada, F, Nolfi, S, Baaboura, T, Birattari, M, Bonani, M, Brambilla, M, Brutschy, A, Burnier, D, Campo, A, Christensen, AL, Decugni猫re, A, Caro, G, Ducatelle, F, Ferrante, E, F枚rster, A, Guzzi, J, Longchamp, V, Magnenat, S, Mathews, N, O鈥橤rady, R, Pinciroli, C, Pini, G, R茅tornaz, P, Roberts, J, Sperati, V, Stirling, T, Stranieri, A, St眉tzle, T, Trianni, V, Tuci, E, Turgut, AE, Vaussard, F (2013) Swarmanoid: A novel concept for the study of heterogeneous robotic swarms. IEEE Robotics & Automation Magazine 20: pp. 60-71 CrossRef
  10. Dorigo, M, Birattari, M, Brambilla, M (2014) Swarm robotics. Scholarpedia 9: pp. 1463 CrossRef
  11. Franchi, A., Oriolo, G., & Stegagno, P. (2010). Probabilistic mutual localization in multi-agent systems from anonymous position measures. In / 49th IEEE Conference on Decision and Control, Atlanta, GA, USA (pp. 6534鈥?540).
  12. Gerkey, BP, Mataric, MJ (2002) Sold!: Auction methods for multirobot coordination. IEEE Transactions on Robotics and Automation 18: pp. 758-768 CrossRef
  13. Goshtasby, A. (2012). Similarity and dissimilarity measures. In / Image Registration, Advances in Computer Vision and Pattern Recognition (pp. 7鈥?6). London, UK: Springer.
  14. Grabowski, R., & Khosla, P. (2001). Localization techniques for a team of small robots. In / Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2001) vol 2, (pp. 1067鈥?072). Piscataway, NJ: IEEE Press.
  15. Gro脽, R, Dorigo, M (2008) Self-assembly at the macroscopic scale. Proceedings of the IEEE 96: pp. 1490-1508 CrossRef
  16. Guti茅rrez, A, Campo, A, Dorigo, M, Amor, D, Magdalena, L, Monasterio-Huelin, F (2008) An open localization and local communication embodied sensor. Sensors 8: pp. 7545-7563 CrossRef
  17. Kemeny, JG, Snell, JL (1976) Finite markov chains. Springer-Verlag, New York, NY
  18. Krajn铆k, T., Von谩sek, V., Fi拧er, D., & Faigl, J. (2011). AR-Drone as a platform for robotic research and education. In / Research and Education in Robotics鈥擡UROBOT 2011 vol 161, (pp. 172鈥?86). Berlin, Germany: Springer.
  19. Kumar, V, Michael, N (2012) Opportunities and challenges with autonomous micro aerial vehicles. The International Journal of Robotics Research 31: pp. 1279-1291 CrossRef
  20. Kushleyev, A, Mellinger, D, Powers, C, Kumar, V (2013) Towards a swarm of agile micro quadrotors. Autonomous Robots 35: pp. 287-300 CrossRef
  21. Mathews, N., Christensen, A. L., Ferrante, E., O鈥橤rady, R., & Dorigo, M. (2010). Establishing spatially targeted communication in a heterogeneous robot swarm. In / Proceedings of 9th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2010) (pp. 939鈥?46). Richland, SC: IFAAMAS.
  22. Mathews, N., Christensen, A. L., O鈥橤rady, R., & Dorigo, M. (2010). Cooperation in a heterogeneous robot swarm through spatially targeted communication. In / Proceedings of the 7th International Conference on Swarm Intelligence (ANTS 2010) (pp. 400鈥?07). Berlin, Germany: Springer.
  23. Mathews, N., Christensen, A. L., O鈥橤rady, R., R茅tornaz, P., Bonani, M., Mondada, F., et al. (2011). Enhanced directional self-assembly based on active recruitment and guidance. In / Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011) (pp. 4762鈥?769). Los Alamitos, CA: IEEE Computer Society Press.
  24. Mathews, N., Christensen, A. L., O鈥橤rady, R., & Dorigo, M. (2012). Spatially targeted communication and self-assembly. In / Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012) (pp. 2678鈥?679). Los Alamitos, CA: IEEE Computer Society Press.
  25. Mathews, N., Stranieri, A., Scheidler, A., & Dorigo, M. (2012). Supervised morphogenesis 鈥?morphology control of ground-based self-assembling robots by aerial robots. In / Proceedings of 11th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2012) (pp. 97鈥?04). Richland, SC: IFAAMAS.
  26. Mathews, N., Valentini, G., Christensen, A. L., O鈥橤rady, R., Brutschy, A., & Dorigo, M. (2013). Spatially targeted communication in multirobot systems. Online supplementary material: http://iridia.ulb.ac.be/supp/IridiaSupp2013-005.
  27. McClain, J. T., Wimpey, B. J., Barnhard, D. H., & Potter, W. D. (2004). Distributed robotic target acquisition using Bluetooth communication. In / Proceedings of the ACM Southeast Regional Conference 2004 (pp. 291鈥?96). New York, NY: ACM.
  28. Nouyan, S, Campo, A, Dorigo, M (2008) Path formation in a robot swarm: Self-organized strategies to find your way home. Swarm Intelligence 2: pp. 1-23 CrossRef
  29. Nouyan, S, Gro脽, R, Bonani, M, Mondada, F, Dorigo, M (2009) Teamwork in self-organized robot colonies. IEEE Transactions on Evolutionary Computation 13: pp. 695-711 CrossRef
  30. Parker, L. E., Kannan, B., Tang, F., & Bailey, M. (2004). Tightly-coupled navigation assistance in heterogeneous multi-robot teams. In / Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004) (pp. 1016鈥?022). Piscataway, NJ: IEEE Press.
  31. Pinciroli, C, Trianni, V, O鈥橤rady, R, Pini, G, Brutschy, A, Brambilla, M, Mathews, N, Ferrante, E, Caro, G, Ducatelle, F, Birattari, M, Gambardella, LM, Dorigo, M (2012) ARGoS: A modular, parallel, multi-engine simulator for multi-robot systems. Swarm Intelligence 6: pp. 271-295 CrossRef
  32. Pugh, J, Raemy, X, Favre, C, Falconi, R, Martinoli, A (2009) A fast onboard relative positioning module for multirobot systems. IEEE/ASME Transactions on Mechatronics 14: pp. 151-162 CrossRef
  33. Rivard, F., Bisson, J., Michaud, F., & L茅tourneau, D. (2008). Ultrasonicrelative positioning for multi-robot systems. In / Proceedings of the 2008 IEEE International Conference on Robotics and Automation (ICRA 2008) (pp. 323鈥?28). Piscataway, NJ: IEEE Press.
  34. Roberts, JF, Stirling, T, Zufferey, JC, Floreano, D (2012) 3-D relative positioning sensor for indoor flying robots. Autonomous Robots 33: pp. 5-20 CrossRef
  35. Stegagno, P., Cognetti, M., Rosa, L., Peliti, P., & Oriolo, G. (2013). Relativelocalization and identification in a heterogeneous multi-robot system. In / Proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA 2013) (pp 1857鈥?864). Piscataway, NJ: IEEE Press.
  36. Stentz, A. T., Kelly, A., Herman, H., Rander, P., Amidi, O., & Mandelbaum, R. (2002). Integrated air/ground vehicle system for semi-autonomous off-road navigation. In / Proceedings of the AUVSI Unmanned Systems Symposium.
  37. St酶y, K. (2001). Using situated communication in distributed autonomous mobile robotics. In / Proceedings of the Seventh Scandinavian Conference on Artificial Intelligence (SCAI 2001) (pp. 44鈥?2). Amsterdam, The Netherlands: IOSPress.
  38. Vaughan, R. T., Sukhatme, G. S., Mesa-Martinez, F. J., & Montgomery, J. F. (2000). Fly spy: Lightweight localization and target tracking for cooperatingair and ground robots. In / Distributed Autonomous Robotic Systems 4 (pp. 315鈥?24).
  39. Zhang, Y, Parker, L (2013) IQ-ASyMTRe: Forming executable coalitions for tightly coupled multirobot tasks. IEEE Transactions on Robotics 29: pp. 400-416 CrossRef
  
• 刊物类别：Computer Science
• 刊物主题：Artificial Intelligence and Robotics
  Automation and Robotics
  Electronic and Computer Engineering
  Computer Imaging, Vision, Pattern Recognition and Graphics
  Mechanical Engineering
  Simulation and Modeling
  
• 出版者：Springer Netherlands
• ISSN：1573-7527

文摘

Spatially targeted communication (STC) allows a message sender to choose message recipients based on their location in space. Currently, STC in multirobot systems is limited to centralized systems. In this paper, we propose a novel communication protocol that enables STC in decentralized multirobot systems. The proposed protocol dispenses with the many aspects that underpin previous approaches, including external tracking infrastructure, a priori knowledge, global information, dedicated communication devices or unique robot IDs. We show how off-the-shelf hardware components such as cameras and LEDs can be used to establish ad-hoc STC links between robots. We present a Markov chain model for each of the two constituent parts of our proposed protocol and we show, using both model-based analysis and experimentation, that the proposed protocol is highly scalable. We also present the results of extensive experiments carried out on an autonomous, heterogeneous multirobot system composed of one aerial robot and numerous ground-based robots. Finally, two real world application scenarios are presented in which we show how spatial coordination can be achieved in a decentralized multirobot system through STC.