Distributed Autonomous Robotic Systems 4

478 Pages·2000·21.639 MB·English

by  Lynne E. Parker (auth.), Lynne E. Parker, George Bekey, Jacob Barhen (eds.)

L.E. Parker, G. Bekey, J. Barhen
(Eds.)
Distributed Autonomous
Robotic Systems 4
With 282 Figures
, Springer
Springer
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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
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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)