Multi-Robot Systems: From Swarms to Intelligent Automata: Proceedings from the 2002 NRL Workshop on Multi-Robot Systems PDF
Preview Multi-Robot Systems: From Swarms to Intelligent Automata: Proceedings from the 2002 NRL Workshop on Multi-Robot Systems
MULTI-ROBOT SYSTEMS: FROM SWARMS TO INTELLIGENT AUTOMATA MULTI-ROBOT SYSTEMS: FROM SWARMS TO INTELLIGENT AUTOMATA Proceedings from the 2002 NRL Workshop on Multi-Robot Systems Edited by Alan C. Schultz Naval Research Laboratory, Washington D.C., U.S.A. and Lynne E. Parker Oak Ridge Natiunal Laburatory, Oak Ridge, Tennessee, U.S.A. SPRINGER-SCIENCE+BUSINESS MEDIA, B.V. A C.I.P. Catalogue record for this book is available from the Library ofCongress. ISBN 978-90-481-6046-4 ISBN 978-94-017-2376-3 (eBook) DOI 10.1007/978-94-017-2376-3 Printed an acid-free paper AII Rights Reserved © 2002 Springer Science+Business Media Dordrecht Originally published by Kluwer Academic Publishers in 2002 No part ofthis work may be rcproduced, stored in a retrieval system, or transmitted in any fonn or by any means, electronic, mechanical, photocopying, microfilming, recording or otherwise, without written permission from the Publisher, with the exception of any material supplied specifically for the purpose ofbeing entered and executed on a acomputer system, for exclusive use by the purchaser of the work. Contents Preface IX Part I Localization, Mapping and Navigation On the Positional Uncertainty of Multi-Robot Cooperative Localization 3 Ioannis M. Rekleitis, Gregory Dndek" and Evangelos E. Milios A Multi-Agent System for Multi-Robot Mapping and Exploration 11 K nrt K onolige, Didier Gnzzoni, and Keith Nicewarner Distributed Heterogeneous Sensing for Outdoor Multi-Robot Localization, Mapping, and Path Planning 21 Lynne E. Parker, Kingsley Fregene, Yi Guo, and Raj Madhavan Mission-Relevant Collaborative Observation and Localization 31 Ashley W. Stroupe, and Tucker Balch Deployment and Localization for Mobile Robot Teams 41 Andrew Howard and Maja J Mataric Multiple Autonomous Robots for UXO Clearance, the Basic UXO Gathering System (BUGS) Project 53 Tuan N. Nguyen, Christopher O'Donnell, and Tuan B. Nguyen Part II Distributed Survelliance Programming and Controlling the Operations of a Team of Miniature Robots 65 Paul E. Rybskb, Sascha A. Stoeter, Maria Gini, and Nikolaos rapanikolopoulos Autonomous Flying Vehicle Research at the University of Southern California 73 Srikanth Saripalli, David J. NajJin, and Gaurav S. Sukhatme v vi MULTI-ROBOT SYSTEMS Part III Manipulation Distributed Manipulation of Multiple Objects Using Ropes 83 Bruce Donald, Larry Gariepy, and Daniela Rus A Distributed Multi-Robot System for Cooperative Manipulation 93 Aveek Das, John Spletzer, Vijay Kumar, and Camillo Taylor Part IV Coordination and Formations A Layered Architecture for Coordination of Mobile Robots 103 Reid Simmons, Trey Smith, M. Bernardine Dias, Dani Goldberg, David Hershberger, Anthony Stentz, and Robert Zlot Stability Analysis of Decentralized Cooperative Controls 113 John T. Feddema and David A. Schoenwald Snow White and the 700 Dwarves 123 Brian H. Wilcox Part V Sensor and Hardware Issues GOATS: Multi-platform Sonar Concept for Coastal Mine Countermeasures 133 Henrik Schmidt and Joseph R. Edwards Design of the UMN Multi-Robot System 141 Andrew Drenner, Ian Burt, Brian Chapeau Tom Dahlin, Bradley Kratochvil, Colin McMillen, Brad Nelso.,,!~ Nikolaos Pap_anikoIQPoulos, Paul E. Rybski, Kristen Stubbs, David waletzko, and Kemal Berk Yesin Simulating Self-Organization With the Digital Hormone Model 149 Wei-Min Shen and Cheng-Ming Chuong Part VI Design and Learning Architecting a Simulation and Development Environment for Multi-RObot Teams 161 Stephen Balakirsky, Elena Messina, and James Albus RobotSoccer: A Multi-Robot Challenge 169 Manuela M. Veloso Part VII Human/Robot Interaction Human-Robot Interactions: Creating Synergistic Cyber Forces 177 Jean C. Scholtz Communicating with Teams of Cooperative Robots 185 Contents vii D. Perzanowskj; A.C. Schultz, W. Adams, M. Skubic, M. Abramson, M. Bugajska, Marsh, J. G. Trafton, and D. Brock J!j. Robot as Partner: Vehicle Teleoperation with Collaborative Control 195 Terrence Fong and Charles Thorpe, Charles Baur Adaptive Multi-Robot, Multi-Operator Work Systems 203 Aaron C. Morris, Charles K. Smart, and Scott M. Thayer User Interaction with Multi-Robot Systems 213 David Kortenkamp, Debra Schreckenghost, and Cheryl Martin Human-Robot Interactions in Robot-Assisted Urban Search and Rescue 221 Robin Murphy and Jenn Casper Usability Issues for Designing Multi-Robot Missions 223 Ronald C. Arkin Perception-Based Navigation for Mobile Robots 225 K. Kawamura, D. M. Wilkes, A.B. Koku, and T. Keskinpala Author Index 235 Preface In March 2002, the Naval Research Laboratory brought together leading researchers and government sponsors for a three-day workshop in Washington, D.C. on Multi-Robot Systems. The workshop began with presentations by various government program managers describing application areas and programs with an interest in multi robot systems. Government representatives were on hand from the Office of Naval Research, the Air Force, the Army Research Lab, the National Aeronau tics and Space Administration, and the Defense Advanced Research Projects Agency. Top researchers then presented their current activities in the areas of multi robot systems and human-robot interaction. The first two days of the workshop concentrated on multi-robot control issues, including the topics of1ocalizatio~. mapping, and navigation; distributed surveillance; manipulation; coordination and formations; and sensors and hardware. The third day was focused on hu man interactions with multi-robot teams. All presentations were given in a single-track workshop format. This proceedings documents the work presented by these researchers at the workshop. The invited presentations were followed by panel discussions, in which all participants interacted to highlight the challenges of this field and to develop possible solutions. In addition to the invited research talks, students were given an opportunity to present their work at poster sessions. This workshop was held in advance of the formal meeting of the NATO working group IST-032IRTG-014 on Multi-Robot Systems in Military Do mains. The workshop itself was held, in part, as a way to let the NATO working group members learn more about current efforts within the United States. We would like to thank the Naval Research Laboratory for sponsoring this workshop and providing the facilities for these meetings to take place, and to the Office of Naval Research for their generous student travel grants. We are extremely grateful to Magdalena Bugajska and Mitchell A. Potter for their vital help (and long hours) in editing these proceedings. Michelle Caccivio provided the administrative support to the workshop. ALAN C. SCHULTZ AND LYNNE E. PARKER IX I LOCALIZATION, MAPPING AND NAVIGATION ON THE POSITIONAL UNCERTAINTY OF MULTI-ROBOT COOPERATIVE LOCALIZATION Ioannis M. Rekleitis, Gregory Dudek Centre for Intelligent Machines, McGill University, Montreal, Quebec, Canada {yiannis,dudek} @cim.mcgill.ca Evangelos E. Milios Faculty of Computer Science, Dalhousie University, Halifax, Nova Scotia, Canada [email protected] Abstract This paper deals with terrain mapping and position estimation using multiple robots. Here we will discuss work where a larger group of robots can mutually estimate one another's position (in 2D or 3D) and uncertainty using a sample based (particle filter) model of uncertainty. Our prior work has dealt with a pair of robots that estimate one another's position using visual tracking and coordi nated motion and we extend these results and consider a richer set of sensing and motion options. In particular, we focus on issues related to confidence estimation for groups of more than two robots. Keywords: Cooperative Localization, Multi-Robot Navigation, Position Estimation, Local ization, Mapping. 1. INTRODUCTION In this paper we discuss the benefits of cooperative localization for a team of mobile robots. The term cooperative localization describes the technique whereby the members of a team of robots estimate one another's positions. This is achieved by employing a special sensor (robot tracker) that estimates a function of the pose of a moving robot relative to one or more stationary ones (see section 1.1). Furthermore, we consider the effects of different robot tracker sensors on the accuracy of localization for a moving robot using only the information from the rest of the robots (as opposed to observations of the environment). This approach results in an open loop estimate (with respect 3 A. C. Schultz and L.E. Parker (eds.), Multi-Robot Systems: From Swarms to Intelligent Automata, 3-\ O. ''G 2002 Kluwer Academic Publishers.
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