Distributed Autonomous Robotic Systems 2

436 Pages·1996·19.481 MB·English

by  Prof. Masami Ito (auth.), Hajime Asama, Toshio Fukuda, Tamio Arai, Isao Endo (eds.)

Springer Japan KK
H. Asama · T. Fukuda· T. Arai ·I. Endo (Eds.)
Distributed Autonomous
Robotic Systems 2
With 371 Figures
~
Springer
Hajime Asama
Senior Research Scientist, The Institute of Physical and Chemical Research (RIKEN),
Hirosawa 2-1, Wako, Saitama 351-01, Japan
Toshio Fukuda
Professor, Department of Micro System Engineering, Nagoya University,
Furo-cho, Chikusa-ku, Nagoya 464-01, Japan
Tamio Arai
Professor, Department of Precision Machinery Engineering, University of Tokyo,
Hongo 7-3-1, Bunkyo-ku, Tokyo 113, Japan
Isao Endo
Chief Researcher, The Institute of Physical and Chemical Research (RIKEN),
Hirosawa 2-1, Wako, Saitama 351-01, Japan
ISBN 978-4-431-66944-9 ISBN 978-4-431-66942-5 (eBook)
DOI 10.1007/978-4-431-66942-5
Printed on acid-free paper
© Springer Japan 1996
Originally published by Springer-Verlag Tokyo Berlin Heidelberg New York in 1996
Softcover reprint ofthe hardcover lst edition 1996
This work is subject to copyright. Ali rights are reserved, whether the whole or part of the material is
concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting,
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 editors and authors
Preface
Although highly intelligent and robust robotic systems have been required in various fields such as
flexible manufacturing processes and maintenance tasks in nuclear plants, sufficient functionality
has not yet been realized with currently available technologies in spite of the efforts to develop
intelligent systems supported by robots. Instead of research oriented to single sophisticated robots,
distributed autonomous robotic systems (DARS) recently have attracted the attention of many
researchers as a new approach to realize robust and intelligent robotic systems. DARS are systems
composed of multiple autonomous units such as modules, cells, processors, agents, and robots.
Combination or cooperative operation of multiple autonomous units is expected to lead to desirable
features such as flexibility, fault tolerance, and efficiency.
The concept of DARS was strongly inspired by biological systems, which have characteristics of
autonomous and decentralized systems, self-organizing systems, multi-agent systems, and
emergent systems. DARS require a broad area of interdisciplinary technologies related not only to
robotics and computer engineering (especially distributed artificial intelligence and artificial life), but
also to biology and psychology.
Reflecting the trends of DARS accelerated by rapid progress in computer and network
(communication) technologies, the First and Second International Symposium on Distributed
Autonomous Robotic Systems (DARS '92 and DARS '94) were held at the Institute of Physical
and Chemical Research (RIKEN), Saitama, Japan, in September 1992 and July 1994. The first
DARS book, published in December 1994 by Springer-Verlag, Tokyo, included papers presented
at DARS '94. On the occasion of the Third International Symposium on DARS (DARS '96), also
held at RIKEN in October 1996, the present book is published as the second volume in the DARS
series as the proceedings of DARS '96, with selected papers from the symposium. Two papers
presented as invited speeches in the symposium, "Trends and Perspective of Researches on Control
System Theory" by Prof. Masami Ito (RIKEN, Japan) and "Collective Intelligence in Natural and
Artificial Systems" by Prof. Jean-Louis Deneubourg (Universire Libre de Bruxelles, Belgium), are
also included in this volume.
v
VI
We proudly recommend this book for its coverage of broad technological aspects (system design,
modeling, simulation, and operation) and various technical issues (sensing, planning, and control)
related to OARS.
The symposium was sponsored by the Institute of Physical and Chemical Research (RIKEN) and
cosponsored by the Institute of Electrical and Electronics Engineers, Inc. (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 would like to thank these sponsors and cosponsors.
We are grateful to the following organizations (in alphabetical order) for their financial support:
Chubu Electric Power Co., Inc.; FANUC, Ltd.; Harmonic Drive Systems Co., Ltd.; Honda
Engineering Co., Ltd.; KIRIN Brewery Co., Ltd.; Mita Industrial Co., Ltd.; Mitsubishi Heavy
Industries Co., Ltd.; Nikkaki Kogiyo Co., Ltd.; Sigma System Co., Ltd.; Sumitomo Heavy
Industries, Ltd.; and Toyo Engineering Co., Ltd.
We are also grateful to the organizing committee members for the successful organization of OARS
'96, and to the program committee members for reviewing papers and for program arrangement.
Finally, we would like to thank Dr. Teruo Fujii, Mr. Hayato Kaetsu, and Miss Miwa Takai for
local arrangements and secretariat administration.
HAJIME ASAMA
Tosmo FuKUDA
TAMIOARAI
ISAOENDO
DARS '96 Organization
(in alphabetical order)
General Co-chairs: Tamio Arai (Univ. of Tokyo, Japan)
Toshio Fukuda (Nagoya Univ., Japan)
Organizing Committee
Chair: !sao Endo (RIKEN, Japan)
Members: Masakatsu Fujie (Hitachi, Ltd., Japan)
Takashi Gomi (Applied AI Systems, Inc., Canada)
Tateo Hisatake (Shin Caterpillar Mitsubishi, Ltd., Japan)
Kouhei Itoh (FANUC, Ltd., Japan)
Seiji Koide (IHI Co., Ltd., Japan)
Tatsuo Miyazawa (Toshiba Corp., Japan)
Toshihisa Naruse (Komatsu, Ltd., Japan)
Takeshi Ohwa (Toshiba Corp., Japan) .
Yoshiki Shimomura (Mita Industrial Co., Ltd., Japan)
Takanori Shinohara (Toyo Engineering Co., Ltd., Japan)
Akira Suzuki (KIRIN Brewery Co., Ltd., Japan)
Takashi Uchiyama (Fujitsu Laboratories Ltd., Japan)
Ichiro Yamaguchi (RIKEN, Japan)
Takashi Yanagisawa (Honda Engineering, Co., Ltd., Japan)
Program Committee
Chair: Hajime Asama (RIKEN, Japan)
Members: Arvin Agah (MEL, Japan)
Teruo Fujii (RIKEN, Japan)
Hiroyuki Hiraoka (Chuo Univ., Japan)
Kazuo Hosokawa (RIKEN, Japan)
Yukinori Kakazu (Hokkaido Univ., Japan)
Jun'ichi Kato (RIKEN, Japan)
Hisato Kobayashi (Hosei Univ., Japan)
Takehisa Kohda (Kyoto Univ., Japan)
Shigeru Kokaji (MEL, Japan)
Shin'ya Kotosaka (ATR, Japan)
Yoji Kuroda (Meiji Univ., Japan)
Tim Liith (FZI Research Center, Karlsruhe, Germany)
Akihiro Matsumoto (Toyo Univ., Japan)
Hisashi Osumi (Chuo Univ., Japan)
Jun Ota (Univ. of Tokyo, Japan)
Koichi Ozaki (Utsunomiya Univ., Japan)
Lynne E. Parker (Oak Ridge National Lab., USA)
Takanori Shibata (MIT, USA)
Sho'ji Suzuki (Osaka Univ., Japan)
Shozo Takata (Waseda Univ., Japan)
Kazunori Umeda (Chuo Univ., Japan)
Akio Yamada (Science Univ. of Tokyo, Japan)
Kazutaka Yokota (Utsunomiya Univ., Japan)
Shin'ichi Yuta (Tsukuba Univ., Japan)
VII
Table of Contents
Chapter 1 Introduction
Trends and Perspective of Researches on Control System Theory
M. ITO • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • 3
Collective Intelligence in Natural and Artificial Systems
J.-L. DENEUBOURG • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • 12
Chapter 2 Distributed Robotic System Design
Reconfiguration Method for a Distributed Mechanical System
K. ToMITA, S. MuRATA, E. YosHIDA, H. KuROKAWA, S. KoKAJJ • • • • • • • • • • • • • • • • • • • • 17
Shock Absorbers and Shock Transformers: Comparing the Collision Behavior of a Mobile
Robot Equipped with Different Bumper Types
M. RUDE •••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 26
Towards a Generic Computer Simulation Platform for Distributed Robotic System
Development and Experiments
J. WANG •••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 38
Cooperation between a Human Operator and Multiple Robots for Maintenance Tasks
at a Distance
T. SuzuKI, T. Fum, K. YoKOTA, H. AsAMA, H. KAETsu, N. MITOMO, I. ENDO ••••••••••• 50
Chapter 3 Snake-like Robot
Fast 3D Simulation of Snake Robot Motion
M. NILSSON •••••••••••••••••••••••••••••••••••••••••••••••••••••••• 63
GMD-Snake: A Semi-Autonomous Snake-like Robot
K. L. PAAP, M. DEHLWISGf, B. KLAASEN •••••••••••••••••••••••••••••••••••• 71
Development of a Snake-like Robot
-Design Concept and Simulation of a Planar Movement Mode-
L. JAMMES, M. HiRAKI, S. ()zoNo ••••••••••••••••••••••••••••••••••••••••• 78
Chapter 4 Multi-Robot System Architecture
Multi-Robot Team Design for Real-World Applications
L. E. PARKER ••••••••••••••••••••••••••••••••••••••••••••••••••••••• 91
An Application Concept of an Underwater Robot Society
M. V AINIO, A. HAuiE, P. APPELQVIST, P. KAHKONEN, P. JAKUBIK, T. SrnoNBERG.
Y.WANG ••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 103
IX
X
The Modeling of the Team Strategy of Robotic Soccer as a Multi-Agent Robot System
A. MATSUMOTO, H. NAGAI • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • 115
Chapter 5 Model for Group Robots
A Model of Group Choice for Artificial Society
y. ISHIDA • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • 129
Distributed Autonomous Formation Control of Mobile Robot Groups by Swarm-Based
Pattern Generation
H. YA MAGuan. G. BENI • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • 141
Affordance in Autonomous Robot
-Grounding Mechanism of Sensory Inputs-
J. HAKURA, H. y OKOI, y. KAKAZU • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • 156
Chapter 6 Algorithm for Cooperative Multiple Robots
Iterative Transportation Planning of Multiple Objects by Cooperative Mobile Robots
Y. YosHIMURA, J. OrA, K.INouE, D. KURABAYASHI, T. ARAI •••••••••••••••••••••• 171
Experimental Characteristics of Multiple-Robots Behaviors in Communication Network
Expansion and Object-Fetching
S. lanKAwA, F. HARA •••••••••••••••••••••••••••••••••••••••••••••••• 183
Managing Different Types of Interactions among Robots
T. c. LUETH, T. LAENGLE • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • 195
Chapter 7 Self-Organizing Systems
Amoeba Like Grouping Behavior for Autonomous Robots Using Vibrating Potential Field
(Obstacle Avoidance on Uneven Road)
H. YOKOI, T. MiZUNO, M. TAKITA, Y. KAKAZU •••••••••••••••••••••••••••••••• 209
Dissipative Structure Network for Collective Autonomy: Spatial Decomposition
of Robotic Group
K. SEKIYA MA,. T. FUKUDA •••••••••••••••••••••••••••••••••••••••••••••• 221
Cooperative Acceleration of Task Performance: Foraging Behavior of Interacting
Multi-Robots System
K. SUGA wA RA, M. SANO • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • 233
Chapter 8 Planning for Cooperative Robot
Asynchronous and Synchronous Cooperation
-Demonstrated by Deadlock Resolution in a Distributed Robot System-
W. A. RAUSCH, P. LEVI ••••••••••••••••••••••••••••••••••••••••••••••• 245
Cooperative Sweeping in Environments with Movable Obstacles
D. KURABAYASHI, J. OrA, T. ARAI, S. lanKAWA, S. KoaA, H. AsAMA.I. ENno ••••••••• 257
Integration of Distributed Sensing Information in OARS based on Evidential Reasoning
A. CAl, T. FUKUDA, F. ARAI •••••••••••••••••••••••••••••••••••••••••••• 268
Implementing an Automated Reasoning System for Multi-Robot Cooperation
L. liE, H. SEKI, H. ITOH • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • 280
XI
Chapter 9 Control in Distributed Robotic Systems
Distributed Fail-Safe Structure for Collaborations of Multiple Manipulators
K. KAwABATA, H. KoBAYASHI •••••••••••••••••••••••••••••••••••••••••• 295
Multi-Legged Vehicle Based on Mimic-Reactive Architecture
K TAKITA, K. SuzuKI, Y. KAKAZu ••••••••••••••••••••••••••••••••••••••• 304
Adaptability of a Decentralized Kinematic Control Algorithm to Reactive Motion
under Microgravity
s. KiMURA, T. OKUYAMA •••••••••••••••••••••••••••••••••••••••••••••• 316
Interactive Human-Robot Pole Balancing Utilizing Multiple Viitual Fuzzy Agents
A. AGAH, K. T ANIE •••••••••••••••••••••••••••••••••••••••••••••••••• 326
Chapter 10 Multi-Robot Control
Cooperative Operation of Two Mobile Robots
A. MING, V. MASEK, C. KANAMORI, M. KAJITANI ••• o •• o • o ••••••••••••••••••••• 339
A New Approach to Multiple Robots' Behavior Design for Cooperative Object Manipulation
Z.-D. WANG, E. NAKANO, T. MATSUKAWA •••••••••••••• 0 •••••••••••••••••••• 350
Robot Behavior and Information System for Multiple Object Handling Robots
M. N. AHMADABAD!, E. NAKANO •••••••••••••• 0 •••••••••••••••••••••••••• 362
Cooperative Strategy for Multiple Position-controlled Mobile Robots
H. OsuMI o •••••••••••••••••••••••••••••• o •••• 0 0 • • • • • • • • • • • • • • • • • • 374
Chapter 11 Sensing & Navigation for Cooperative Robots
Cooperative Navigation among Multiple Mobile Robots
A. C. SANDERSON • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • 389
Self-Localization of Autonomous Mobile Robots Using Intelligent Data Carriers
Y. ARAI, T. FuJITA, T. Fum, H. KAErsu, H. AsAMA, I. ENno ••••••••••••••••••••• 401
Fusion of Range Images and Intensity Images Measured from Multiple View Points
K. u MEDA, K. IKUSHIMA • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • 411
A Robot Duo for Cooperative Autonomous Navigation
P. BISON, G. TRAJNITO •••••••••••••••••••••••••• 0 ••••••••••••••••••••• 423
Appendix Related Research Topics
Granularity and Scaling in Modularity Design for Manipulator Systems
T. MATS UMAR u •••••••••••••• 0 •••• 0 ••••••••• 0 • 0 0 ••••••••• 0 • 0 • • • • • • • 433
Shared Experience Learning on a pair of Autonomous Mobile Robots
I. D. KELLY, D. A. KEATING ••••••••••••••••••••••••••••••••••• 0 •••••••• 434
Autonomous Navigation of Mobile Robot by Using Hierarchical Fuzzy Inference
and Multi-Sensor Fusion
D.-Y. Ju, Y. EMaro, T. OorANI, T. SoEDA •••••••••••••• o •••••••••••••••••••• 435
Genetic Approach for Autonomous Learning and Structural Evolution
H. SAKANASHI, y. KAKAZU •••••••••• 0 ••• 0 • 0 ••••••• 0 •••••••••• 0 • 0 • • • • • • • 436