Distributed Autonomous Robotic Systems 5

485 Pages·2002·18.776 MB·English

by  Hajime Asama (auth.), Hajime Asama, Tamio Arai, Toshio Fukuda, Tsutomu Hasegawa (eds.)

Springer
Tokyo
Berlin
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London
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H. Asama, T. Arai,
T. Fukuda, T. Hasegawa
(Eds.)
Distributed Autonomous
Robotic Systems 5
With 100 Figures
, Springer
Hajime Asama
Head ofInstrumentation Project Promotion Division
Advanced Engineering Center
RIKEN (The Institute ofPhysical and Chemical Research)
2-1 Hirosawa, Wako-shi, Saitama 351-0198, Japan
TamioArai
Professor
Department ofPrecision Machinery Engineering
The University ofTokyo
7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
Toshio Fukuda
Professor
Department of Micro System Engineering
Nagoya University
Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
Tsutomu Hasegawa
Professor
Department of Intelligent Systems
Graduate School ofInformation and Electrical Engineering
Kyushu University
6-10-1 Hakozaki, Higashi-ku, Fukuoka 812-8581, Japan
ISBN 978-4-431-65943-3 ISBN 978-4-431-65941-9 (eBook)
DOI 10.1007/978-4-431-65941-9
Library of Congress Cataloging-in-Publication Data applied for.
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© Springer-Verlag Tokyo 2002
Softcover reprint ofthe hardcover 1s t edition 2002
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Preface
A decade has already passed since the first International Symposium on Distrib
uted Autonomous Robotic Systems (DARS) was held in Wako-shi, Saitama, Ja
pan. The DARS symposia have been held every two years since then. DARS 92,
DARS 94, and DARS 96 were held in Japan; DARS 98 in Karlsruhe, Germany;
and DARS 2000 in KnoxviIle, Tennessee, USA. In 2002, DARS came back to
Japan and was held June 25-27,2002, in Fukuoka, Japan. DARS 2002 was planned
in conjunction with the robot soccer competition, RoboCup-2002, which was held
also in Fukuoka and in Busan, Korea, because the scope of multirobot cooperation
encompasses both events. This book inc1udes all the papers accepted after review
and presented at DARS 2002.
In DARS symposia, various aspects of distributed autonomous robotic systems
have been discussed, such as architecture, communication, control, sensing, plan
ning, and learning. While the size ofthe conference (the number ofpresentations
and participants) has remained almost constant, interests seem to have shifted gradu
ally in 10 years due to technological progress and concurrent change in the social
environment. The following tendencies have been observed:
(1) Practical papers have increased in comparison with theoretical ones.
(2) Learning issues have become more important.
(3) Application of DARS has become a matter of greater concern.
In DARS 2002, 46 technical papers were presented in sessions of Modular Ro
botic Systems, Communication for Cooperation, Human-Machine Cooperative In
teraction, Multi-Robot Coordination, Robot Soccer, Distributed Sensing and
Mapping, Distributed Control, Multi-Agent and Group Systems, Multi-Robot Mo
tion Planning, Emergence in Mobility, and Learning in Distributed Robotic Sys
tems.
We express great thanks to Prof. Kazuhiro Kosuge, Prof. Satoshi Murata, pro
gram vice co-chairs, and program committee members who reviewed papers sub
mitted to DARS 2002 and contributed to enhancing the quality ofthe program. We
would like to thank Prof. Masafumi Yamashita, vice general chair, and the organiz
ing committee and local arrangement committee members, as weIl as members of
the Institute of Systems & Information Technologies, for successful organization
of DARS 2002. We appreciate the cooperation of Prof. Minoru Asada, Chair of the
RoboCup-2002 symposium, in setting up the joint pro gram ofthe RoboCup-2002
symposium and DARS 2002.
We express our gratitude to the co-sponsoring organizations, IEEE RAS (Ro
botics & Automation Society), RSJ (Robotics Society of Japan), JSME (Japan
Society of Mechanical Engineers), SICE (The Society ofInstrument & Control
v
VI
Engineers of Japan), RIKEN (The Institute of Physical and Chemical Research),
as weil as FANUC FA and Robot Foundation and the Tateisi Science and Technol
ogy Foundation, which contributed to DARS 2002 in the way offinancial support.
We also thank the IEEE Fukuoka Section for their cooperation.
We thank Prof. Rolf Pfeifer (University of Zurich, Switzerland), and Dr. Lynne
E. Parker (Oak Ridge National Laboratory, USA) for their plenary talks, which
were programmed as part ofthe joint pro gram ofDARS 2002 and the RoboCup
Symposium.
Finally, we are grateful to Dr. Kuniaki Kawabata and to Ms. Chieko Takahashi
for their help in secretariat administration.
Hajime Asama
TamioArai
Toshio Fukuda
Tsutomu Hasegawa
Contents
Prefaee ................................................................................................................. V
Organization ..................................................................................................... XIII
Chapter 1: Introduction
Perspeetive of Distributed Autonomous Robotie Systems
H.AsAMA ......................................................................................................... 3
Chapter 2: Modular Robotic Systems
Navigating Modular Robots in the Faee of Heuristie Depressions
K. MIYASHITA and S. KOKAJI ............................................................................. 7
A Self-Reeonfigurable Modular Robot (MTRAN)
-Hardware and Motion Planning Software -
A. KAMIMURA, E. YOSHIDA, S. MURATA, H. KUROKAWA, K. TOMITA,
and S. KOKAJI ................................................................................................ 17
Automatie Parameter Identifieation for Rapid Setting Up ofDistributed
Modular Robots
K. MATSUMOTO, H.Y. CHEN, K. SHIMADA, J. OTA, and T. ARAI .......................... 27
Distributed Replieation Algorithms for Self-Reeonfiguring Modular Robots
Z. BUTLER, S. MURATA, and D. Rus ................................................................ 37
Chapter 3: Communication and Cooperation
Communieation Meehanism in a Distributed System ofMobile Robots
A. KASIl~SKI and P. SKRZYPCZYNSKI ................................................................ 51
A Geometrie Arbiter Seleetion Algorithm on Infrared Wireless Inter-Robot
Communieation
H. T AKAI, H. HARA, K. HIRANO, G. Y ASUDA, and K. T ACHIBANA ...................... 61
A Study ofCommunieation Emergenee Among Mobile Robots:
Simulations ofIntention Transmission
K. KAWABATA, H. ASAMA, and M. T ANAKA ..................................................... 71
VII
VIII
Communication by Oatagram Circulation Among Multiple Autonomous
Soccer Robots
T. SUGIMOTO, T. MATsuoKA, T. KIRIKI, and T. HASEGAWA .............................. 81
Autonomous Robots Sharing a Charging Station with No Communication:
ACase Study
F. SEMPE, A. MUNoz, and A. OROGOUL .......................................................... 91
Chapter 4: Human-Machine Cooperative Interaction
A Scalable Command and Control System for Human-Machine Work Systems
A.C. MORRIS, c.K. SMART, and S.M. THAYER ............................................. 103
Implementing a Face Oetection System Practically Robust Against Size
Variation and Brightness Fluctuation for Oistributed Autonomous Human
Supporting Robotic Environment
H. MIZOGUCHI, K. HIDAI, K. HIRAOKA, M. T ANAKA, T. SHIGEHARA,
and T. MISHIMA ........................................................................................... 11 3
Voice Communication in Performing a Cooperative Task with a Robot
K. PULASINGHE, K. WATANABE, K. KIGUCHI, and K. IZUMI ........................... 123
Chapter 5: Multi-Robot Coordination
Position Control ofLoad by Traction ofTwo Mobile Robots
H. HASHIMOTO, S. NAKAGAWA, N. AMANO, and C. ISHII ............................... 135
Cooperative Motion Coordination Amidst Dyriamic Obstacles
S. CARPIN and L.E. PARKER ......................................................................... 145
Collision Avoidance Aigorithm for Two Tracked Mobile Robots Transporting
a Single Object in Coordination Based on Function Allocation Concept
H. TAKEDA, Y. HlRATA, Z.O. WA NG, and K. KOSUGE ................................... 155
A Oecentralized Test Algorithm for Object Closure by Multiple Cooperating
Mobile Robots
z.o. WANG and V. KUMAR .......................................................................... 165
Coordinated Transportation of a Single Object by a Group of Nonholonomic
Mobile Robots
x. Y ANG, K. WA TANABE, K. KIGUCHI, and K. IZUMI ..................................... 175
IX
Chapter 6: Robot Soccer
Coordinated Trajectory Planning and Formation Control ofSoccer Robots
to Pass a Ball Cyclically
T.C. LIANG and J.S. LIU .............................................................................. 187
M-ROSE: A Multi Robot Simulation Environment for Leaming Co operative
Behavior
S. BUCK, M. BEETZ, and T. SCHMITT ............................................................ 197
Real-Time Adaptive Leaming from Observation for RoboCup Soccer Agents
T. KAWARABAYASHI, T. KUBO, T. MORISITA, 1. NISHINO, T. ODAKA,
and H. OGURA ............................................................................................. 207
An Empirical Study of Coaching
P. RILEY, M. VELOSO, and G KAMINKA ........................................................ 215
Chapter 7: Distributed Control
Deeentralized Control ofRedundant Manipulator Based on the Analogy
of Heat and Wave Equations
K. ISHIMURA, M.C. NATORI, and M. W ADA .................................................. 227
Cooperating Cleaning Robots
M. JÄGER ..................................................................................................... 237
Movement Model ofMultiple Mobile Robots Based on Servo System
M. NIITSUMA, H. HASHIMOTO, Y. KIMuRA, and S. ISHIJIMA ........................... 247
On-Line Collision Avoidance of Mobile Robot for Dynamically Moving
Obstacles
N. USHIMI, M. YAMAMOTO, M. SHIMADA, and A. MOHRI ............................. 257
Distributed Multi Robot Reaetive Navigation
A. SCALZO, A. SGORBISSA, and R. ZACCARIA ................................................ 267
Chapter 8: Distributed Sensing and Mapping
Omnidireetional Distributed Vision for Multi-Robot Mapping
E. MENEGATTI and E. PAGELLO .................................................................... 279
How Many Robots? Group Size and Efficieney in Colleetive Seareh Tasks
A.T. HAYES ................................................................................................. 289
x
Mobile Sensor Network Deployment Using Potential Fields: A Distributed,
Scalable Solution to the Area Coverage Problem
A. HOWARD, MJ. MATARI.C, and GS. SUKHATME ............................................ 299
Map Acquisition in Multi-Robot Systems Based on Time Shared Scheduling
Y. ARAI, H. ASAMA, and H. KAETSU ............................................................... 309
Principled Monitoring of Distributed Agents for Detection of Coordination
Failure
B. BROWNING, GA. KAM INKA, and M.M. VELOSO .......................................... 319
Chapter 9: Multi-Agent and Group Systems
Cooperative Behavior ofInteracting Simple Robots in a Clockface Arranged
Foraging Field
K. SUGAWARA and M. SANO .......................................................................... 331
Graduated Spatial Pattern Formation ofMicro Robot Group
T. FUKuDA, Y. lKEMOTo, F. ARAI, and T. HIGASHI ............................................ 340
Heterogeneous Agents Cooperating: Robots, Field Devices, and Process
Automation Integrated with Agent Technology
P. ApPELQVIST, I. SEILONEN, M. V AINIO, A. HALME, and K. KOSKINEN ............ 350
Chapter 10: Multi-Robot Motion Planning
Heuristic Approach of a Distributed Autonomous Guidance System
to Adapt to the Dynamic Environment
D. KURABAYASHI and H. ASAMA .................................................................... 363
Spreading Out: A Local Approach to Multi-Robot Coverage
M.A. BATALIN and GS. SUKHATME ................................................................. 373
Real-Time Cooperative Exploration by Reaction-Diffusion Equation on a Graph
C. TREVAI, K. IcHIKAWA, Y. FUKAZAwA, H. YUASA, 1. OTA, T. ARAI,
and H. ASAMA .............................................................................................. 383
Research on Cooperative Capture by Multiple Mobile Robots
-A Proposition of Cooperative Capture Strategies in the Pursuit Problem -
K. T AKAHASHI and M. KAKIKURA ................................................................. 393
XI
Chapter 11: Emergence in Mobility
Interpreting Two Psychological Functions by a Hierarchically Structured
Neural Memory Model
T. HOYA ....................................................................................................... 405
Neural Control ofQuadruped Robot for Autonomous Walking on Soft Terrain
S. SHIMADA, T. EGAMI, K. ISHIMuRA, and M. W ADA .................................... 415
Kilorobot Search and Rescue Using an Immunologically Inspired Approach
S.P.N. SINGH and S.M. THAYER ................................................................... 424
Universal Distributed Brain for Mobile Multi-Robot Systems
P. SAPATY and M. SUGISAKA ......................................................................... 434
Real-Time Control ofWalking ofInsect; Self-Organization ofthe Constraints
and Walking Patterns
M. YA NO, S. HIBIYA, M. TOKlwA, and Y. MAKINO ........................................ 444
Chapter 12: Learning in Distributed Robotic Systems
Using Interaction-Based Learning to Construct an Adaptive and
Fault-Tolerant Multi-Link Floating Robot
w:
Yu, T. ISHIOKA, D. IIJIMA, H. YOKOI, and Y. KAKAzu ............................. 455
Neural Networks (NN) Using Genetic Aigorithms (GA) and Gradient
Back-Propagation (GBP) for an Intelligent ObstacIe Avoidance Behavior
A. CHOHRA and o. AZOUAOUI ...................................................................... 465
Interactive Q-Learning on Heterogeneous Agents System for Autonomous
Adaptive Interface
Y. ISHlwAKA, H. YOKOI, and Y. KAKAZU ...................................................... 475