ebook img

Distributed Autonomous Robotic Systems 4 PDF

478 Pages·2000·21.639 MB·English
Save to my drive
Quick download
Download
Most books are stored in the elastic cloud where traffic is expensive. For this reason, we have a limit on daily download.

Preview Distributed Autonomous Robotic Systems 4

L.E. Parker, G. Bekey, J. Barhen (Eds.) Distributed Autonomous Robotic Systems 4 With 282 Figures , Springer Springer Tokyo Berlin Heidelberg New York Barcelona Hong Kong London Milan Paris Singapore LYNNE E. PARKER Senior Research Staff Oak Ridge National Laboratory Center for Engineering Science Advanced Research P. O. Box 2008, Oak Ridge, TN 37831-6355, USA GEORGE BEKEY Gordon Marshall Professor of Computer Science University of Southern California Department of Computer Science 941 West 37th Place Los Angeles, CA 90089-0781, USA JACOB BARHEN UT-Battelle Corporate Fellow Oak Ridge National Laboratory Center for Engineering Science Advanced Research P. O. Box 2008, Oak Ridge, TN 37831-6355, USA Library of Congress Cataloging-in-Publication Data Distributed autonomous robotic systems 41 L.E. Parker. G. Bekey. J. Barhen (eds.). p. cm. Includes bibliographical references. ISBN 978-4-431-67991-2 ISBN 978-4-431-67919-6 (eBook) DOl 10.1007/978-4-431-67919-6 I. Autonomous robots. I. Parker. Lynne E. II. Bekey. George A .. 1928-Ill. Barhen, 1. (Jacob), 1947-IV. International Symposium on Distributed Autonomous Robotic Systems (5th: 2000 : Knoxville, Tenn.) TJ211.495 .057 2000 629.8'92--dc21 00-058355 Printed on acid-free paper e Springer-Verlag Tokyo 2000 Softcover reprint of the hardcover 1st edition 2000 This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcast ing' reproduction on microfilms or in other ways, and storage in data banks. The use of registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. Typesetting: Camera-ready by the editors and authors SPIN: 10776815 Preface The Fifth International Symposium on Distributed Autonomous Robotic Systems (DARS 2000) dealt with new strategies to realize complex, modular, robust, and fault-tolerant robotic systems. Technologies, algorithms, and system architectures for distributed autonomous robotic systems were presented and discussed during the meeting. DARS 2000 was truly an international event, with participants represent ing eleven countries from Europe, Asia, and the Americas. All of the papers in this volume were presented at DARS 2000, and were selected on the basis of peer re views to ensure quality and relevance. These papers have the common goal of con tributing solutions to realize robust and intelligent multirobot systems. The topics of the symposium address a wide range of issues that are important in the development of decentralized robotic systems. These topics include architec tures, communication, biological inspirations, reconfigurable robots, localization, exploration and mapping, distributed sensing, multi robot motion coordination, tar get assignment and tracking, multirobot learning, and cooperative object transport. DARS clearly requires a broad area of interdisciplinary technologies related not only to robotics and computer engineering, but also to biology and psychology. The DARS symposium is the leading established conference on distributed au tonomous systems. The First, Second, and Third International Symposia on Distrib uted Autonomous Robotic Systems (DARS '92, DARS '94, and DARS '96) were held at the Institute of Physical and Chemical Research (RIKEN), Saitama, Japan. In 1998, the event was first held in Europe, at the Institute for Process Control and Robotics, University of Karlsruhe, Germany. From October 4-6,2000, the sympo sium (DARS 2000) was held for the first time in the United States, in Knoxville, Tennessee, hosted by the Oak Ridge National Laboratory. We would like to thank the sponsors and cosponsors of the DARS 2000 sympo sium, which was sponsored by the Oak Ridge National Laboratory and the Engi neering Research Program of the Office of Basic Energy Sciences in the U. S. De partment of Energy. The cosponsors of the symposium were the IEEE Robotics and Automation Society, the IEEE Industrial Electronics Society, the Robotics Society of Japan (RSJ), the Japan Society of Mechanical Engineers (JSME), and the Society of Instrument and Control Engineers of Japan (SICE). We are grateful to the organizing committee members for the successful organi zation of DARS 2000, and to the program committee members for reviewing papers and for program arrangement. Finally, we would like to thank Ms. Thelma Garrett, Ms. Tina Lanning, and Ms. Carole Holbrook for their help with local arrangements and secretariat administration Lynne E. Parker George W. Bekey Jacob Barhen Table of Contents Chapter 1: Introduction Current State of the Art in Distributed Autonomous Mobile Robotics L. E. PARKER ................................................................................ .3 Chapter 2: Architectures and Development Environments Control Architecture for an Underwater Robot Society M. VAINIO, P. APPELQVIST, A. HALME. ........................................... .15 Ayllu: Distributed Port-arbitrated Behavior-based Control B. B. WERGER .............................................................................. 25 An Architecture for Reactive Cooperation of Mobile Distributed Robots O. SIMONIN, A. LIEGEOIS, P. RONGIER ............................................. 35 A Framework for Distributed Simulation of Multirobot Systems: The VLAB Experience S. CARPIN, C. FERRARI, E. PAGELLO ............................................... .45 Robots that Cooperatively Enhance Their Plans S. BOTELHO, R. ALAMI. .................................................................5 5 Chapter 3: Communication and Knowledge Sharing Performance Evaluation of Autonomous Knowledge Acquisition and Sharing by Intelligent Data Carriers System D. KURABA YASHI, K. KONISHI, H. ASAMA ....................................... 69 Collective Grounded Representations for Robots L. HUGUES ...................................................................................7 9 Effects of Static and Dynamic Variety in the Character of Robots on Group Intelligence of Multi-robot System S. ICHIKAWA, F. HARA .................................................................. 89 Communication Fault Tolerance in Distributed Robotic Systems P. MOLNAR, 1. STARKE .................................................................. 99 VIII Chapter 4: Biological Inspirations Blazing a Trail: Insect-inspired Resource Transportation by a Robot Team R. VAUGHAN, K. STOY, G. S. SUKHATME, M. 1. MATARIC .................. lll Artificial Emotion and Social Robotics F. MICHAUD, P. PIRJANIAN, 1. AUDET, D. LETOURNEAU ................... 12l The Use of Biologically-Inspired Rules to Control a Collective Robotic Arm G. G. KORIENEK, A. B. BAUTISTA, T. H. HARTY, C. LEDDON ............... 13l Chapter 5: Reconfigurable Robots Micro Self-Reconfigurable Robotic System using Shape Memory Alloy E. YOSHIDA, S. MURATA, S. KOKAJI, K. TOMITA, H. KUROKAWA ....... 145 Autonomous and Self-Sufficient CONRO Modules for Reconfigurable Robots A. CASTANO, R. CHOKKALINGAM, P. WILL. .................................... 155 Motion Planning for a Modular Self-Reconfiguring Robotic System C. UNSAL, H. KILICCOTE, M. PATTON, P. K. KHOSLA ........................ 165 Chapter 6: Localization Distributed Multi-Robot Localization S. I. ROUMELIOTIS, G. A. BEKEY ................................................... 179 Distance Measurement in Multi-Robot Systems based on Time Shared Scheduling Y. ARAI, H. ASAMA, H. KAETSU, I. ENDO ........................................ 189 Relative Position Localizing System for Multiple Autonomous Mobile Robots in Distributed Robotic System S. PREMVUTI, W. WATTANAPORNPROM, M. O-SOT, 1. WATT ANA WEJWIJIT .................................................................. 199 Development of a Multiple Mobile Robot System Controlled by a Human - Realization of Object Command Level A. NAKAMURA, T. ARAI, T. HIROKI, 1. OTA ...................................... 209 Chapter 7: Exploration, Mapping, and Model Acquisition Autonomous Mobile Robots and Distributed Exploratory Missions D. F. HOUGEN, M. D. ERICKSON, P. E. RYBSKI, S. A. STOETER, M. GINI, N. PAPANIKOLOPOULOS .............. : ................................................ 221 IX Terrain Model Acquisition by Mobile Robot Teams and n-Connectivity N. S. V. RAO ................................................................................ 231 Graph-Based Exploration using Multiple Robots I. M. REKLEITIS, G. DUDEK, E. E. MILIOS .........................................2 41 Landmark-based Matching Algorithm for Cooperative Mapping by Autonomous Robots G. DEDEOGLU, G. S.S UKHATME .................................................... 251 Comparing Distributed Exploration Strategies with Simulated and Real Autonomous Robots A. T. HAYES, A. MARTINOLI, R. M. GOODMAN ................................2 61 Chapter 8: Distributed Sensing Distributed Sensing and Data Collection via Broken Ad Hoc Wireless Connected Networks of Mobile Robots A. WINFIELD .............................................................................. 273 Experiments and Results in Multimodal, Distributed, Robotic Perception A. KASINSKI, P. SKRZYPCZYNSKI. ................................................. 283 Cooperative Sentry Vehicles and Differential GPS Leapfrog J. FEDDEMA, C. LEWIS, R. LAFARGE ............................................... 293 Chapter 9: Multi-Robot Motion Coordination and Tracking Motion Coordination in Formations of Multiple Mobile Robots Using a Potential Field Approach F. E. SCHNEIDER, D. WILDERMUTH, H.-L. WOLF .............................. 305 Fly Spy: Lightweight Localization and Target Tracking for Cooperating Air and Ground Robots R. T. VAUGHAN, G. S. SUKHATME, F. J. MESA-MARTINEZ, J. F. MONTGOMERy ..................................................................... 315 Dynamic Robot-Target Assignment -- Dependence of Recovering from Breakdowns on the Speed of the Selection Process T. KAGA, J. STARKE, P. MOLNAR, M. SCHANZ, T. FUKUDA ............... .325 Fuzzy Control of Distance and Motion Tracking Applied to Cooperative Autonomous Robots M. R. HITCHINGS, LJ. B.V LACIC, Z. O'SULLIVAN ............................ .335 x Broadcast of Local Eligibility for Multi-Target Observation B. B. WERGER, M. I. MATARIC ...................................................... 347 A Communication-Free Behavior for Docking Mobile Robots B. W. MINTEN, R. R. MURPHY, I. HYAMS, M. MICIRE ........................ 357 Chapter 10: Multi-Robot Learning On Behavior Classification in Adversarial Environments P. RILEY, M. VELOSO ................................................................... 371 Learning-Based Task Allocation in Decentralized Multirobot System P. TANGAMCHIT, J. M. DOLAN, P. K. KHOSLA .................................. 381 Multi-Robot Learning in a Cooperative Observation Task L. E. PARKER, C. TOUZET ............................................................. .391 Ultra-Fast Neural Network Training for Robot Learning from Uncertain Data J. BARHEN, V. PROTOPOPESCU .................................................... ..403 Chapter 11: Cooperative Object Transport Object Transport Using Multiple Mobile Robots With Pin Joint Endeffectors C. K. HUMBERSTONE, K. B. SMITH ................................................ 0417 Distributed Motion Generation for Two Omni-Directional Robots Carrying a Ladder Y. ASAHIRO, E. C-H. CHANG, A. MALI, S. NAGAFUJI, I. SUZUKI, M. yAMASHITA ...........................................................................4 27 Experimental Manufacturing of Object Transfer System "Magic Carpet" Consisting of Actuator Array with Autonomous Decentralized Control H. OYOBE, R. MARUTANI, Y. HORI.. .............................................. 0437 A Control Method of a Multiple Non-holonomic Robot System for Cooperative Object Transportation Z. WANG, Y. KIMURA, T. TAKAHASHI, E. NAKANO .......................... A47 Structural Characteristics of Intelligence and Embodiment in Two-Mobile Robots System T. SAWADA, A. SUGAI, S. ICHIKAWA, F. HARA ................................ 0457 Chapter 12: Related Research Topics From Distributed Robot Perception to Human Topology: A Learning Model N. BREDECHE, I.-D. ZUCKER ........................................................ .469 XI Reactive Sensor Networks R. R. BROOKS, E. GRELE, W. KLIMKIEWICZ, 1. MOORE, C. GRIFFIN, B. KOVAK, 1. KOCH ...................................................................... 471 Cooperation of Multiple Robots to Solve Maze Tasks C. R. F. COSTA, E. P. 1. AUDE ........................................................ .473 Localizing a Wireless Node in a Multi-Agent System using Kalman Filtering P. GOEL, G. S. SUKHATME ........................................................... .475 Learning Cooperation from Human-Robot Interaction M. N. NICOLESCU, M. J. MATARIC. ................................................ .477 Susceptibility of Swarm Control Algorithms to Agent Failure D. W. PALMER, D. H. STINBERG, C. M. HANTAK. M. A. KOVACINA, S. N. CALABRESE ....................................................................... .479 The MICRobES Project, an Experimental Approach towards "Open Collective Robotics" S. PICAULT, A. DROGOUL. ........................................................... .481 Dynamic Task Selection: A Simple Structure for Multirobot system P. TANGAMCHIT, J. M. DOLAN, P. K. KHOSLA ................................. .483 Author Index ............................................................................ 485 DARS 2000 Organization General Co-Chairs: George Bekey (University of Southern California, USA) Jacob Barhen (Oak Ridge National Laboratory, USA) Advisory Committee: Hajime Asama (RUffiN, Japan) Toshio Fukuda (Nagoya University, Japan) Tim Lueth (Humboldt University, Germany) Program Committee Chair: Lynne Parker (Oak Ridge National Laboratory, USA) Members: Arvin Agah (Univ. of Kansas, USA) Rachid Alami (LAAS, France) Ron Arkin (Ga. Tech, USA) Tucker Balch (CMU, USA) Gerardo Beni (U. California Riverside, USA) Richard Brooks (Penn State, USA) Hans-Dieter Burkhard (Humboldt Univ., Germany) Paolo Dario (Scuola Speriore S. Anna, Italy) Marco Dorigo (IRIDIA, Belgium) Alexis Drogoul (Paris VI Univ., France) Aarne Halme (Helsinki Univ. of Tech., Finland) Terry Huntsberger (JPL, USA) Jeffrey Johnson (Open University, UK) David Jung (ORNL, USA) Yukinori Kakazu (Hokkaido Univ., Japan) Kazuhiro Kosuge (Tohoku Univ., Japan) Christian Laugier (INRIA, France) Paul Levi (Univ. Stuttgart, Germany) Akihiro Matsumoto (Toyo Univ., Japan) Francesco Mondada (K-Team, Switzerland) Satoshi Murata (MEL, Japan) Robin R. Murphy (USF, USA) Jun Ota (Univ. Tokyo, Japan) Enrico Pagello (U. Padua, Italy) Chris Paredis (CMU, USA) Suparerk Premvuti (Thammasat Univ., Thailand) Daniela Rus (Dartmouth College, USA) Arthur Sanderson (Rensselear Polytechnic Inst., USA) Wei-Min Shen (USC, USA) Takanori Shibata (MEL, Japan) Peter Stone (AT&T Labs - Research, USA) Gaurav Sukhatme (USC, USA) Claude Touzet (ORNL, USA) Manuela Veloso (CMU, USA) Ljubo Vlacic (Griffith Univ., Australia) Jing Wang (TransDimension Int'I Corp., USA) Zhidong Wang (Tohoku Univ., Japan) Alexander Zelinsky (Australian National Univ., Australia)

See more

The list of books you might like

Most books are stored in the elastic cloud where traffic is expensive. For this reason, we have a limit on daily download.