共查询到20条相似文献,搜索用时 15 毫秒
1.
《Evolutionary Computation, IEEE Transactions on》2009,13(4):754-766
2.
Motoaki Hiraga Yufei Wei Toshiyuki Yasuda Kazuhiro Ohkura 《Artificial Life and Robotics》2018,23(4):547-554
Redundancy in the number of robots is a fundamental feature of robotic swarms to confer robustness, flexibility, and scalability. However, robots tend to interfere with each other in a case, where multiple robots gather in a spatially limited environment. The aim of this paper is to understand how a robotic swarm develops an effective strategy to manage congestion. The controllers of the robots are obtained by an evolutionary robotics approach. The strategy of managing congestion is observed in the process of generating a collective path of robots visiting two landmarks alternately. The robotic swarm exhibits autonomous specialization that the robots traveling inside the path activate the LEDs, while the robots in the outer side deactivate them. We found that the congestion is regulated in an emergent way of autonomous specialization by the result of an artificial evolution. 相似文献
3.
Distributed boundary coverage with a team of networked miniature robots using a robust market-based algorithm 总被引:1,自引:0,他引:1
Patrick Amstutz Nikolaus Correll Alcherio Martinoli 《Annals of Mathematics and Artificial Intelligence》2008,52(2-4):307-333
We study distributed boundary coverage of known environments using a team of miniature robots. Distributed boundary coverage is an instance of the multi-robot task-allocation problem and has applications in inspection, cleaning, and painting among others. The proposed algorithm is robust to sensor and actuator noise, failure of individual robots, and communication loss. We use a market-based algorithm with known lower bounds on the performance to allocate the environmental objects of interest among the team of robots. The coverage time for systems subject to sensor and actuator noise is significantly shortended by on-line task re-allocation. The complexity and convergence properties of the algorithm are formally analyzed. The system performance is systematically analyzed at two different microscopic modeling levels, using agent-based, discrete-event and module-based, realistic simulators. Finally, results obtained in simulation are validated using a team of Alice miniature robots involved in a distributed inspection case study. 相似文献
4.
In recent years, there has been a growing interest in resource location in unknown environments for robotic systems, which are composed of multiple simple robots rather than one highly capable robot [M. Sempere, F. Aznar, M. Pujol, and R. Rizo, On cooperative swarm foraging for simple, non explicitly connected, agents, 2010]. This tradeoff reduces the design and hardware complexity of the robots and removes single point failures, but adds complexity in algorithm design. The challenge is to programme a swarm of simple robots, with minimal intercommunication and individual capability, to perform a useful task as a group. This paper is focused on finding the highest intensity area of a radiofrequency (RF) signal in urban environments. These signals are usually more intense near the city centre and its proximity, since in these zones the risk of signal saturation is high. RF radiation (RFR) is boosted or blocked mainly depending on orography or building structures. RF providers need to supply enough coverage, setting up different antennas to be able to provide a minimum quality of service. We will define a micro/macroscopic mathematical model to efficiently study a swarm robotic system, predict their long-term behaviour and gain insight into the system design. The macroscopic model will be obtained from Rate Equations, describing the dynamics of the swarm collective behaviour. In our experimental section, the Campus of the University of Alicante will be used to simulate our model. Three RFR antennas will be taken into account, one inside our Campus and the other two in its perimeter. Several tests, that show the convergence of the swarm towards the RFR, will be presented. In addition, the obtained RFR maps and the macroscopic behaviour of the swarm will be discussed. 相似文献
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6.
Thomas Schmickl Ronald Thenius Christoph Moeslinger Gerald Radspieler Serge Kernbach Marc Szymanski Karl Crailsheim 《Autonomous Agents and Multi-Agent Systems》2009,18(1):133-155
We demonstrate the ability of a swarm of autonomous micro-robots to perform collective decision making in a dynamic environment.
This decision making is an emergent property of decentralized self-organization, which results from executing a very simple
bio-inspired algorithm. This algorithm allows the robotic swarm to choose from several distinct light sources in the environment
and to aggregate in the area with the highest illuminance. Interestingly, these decisions are formed by the collective, although
no information is exchanged by the robots. The only communicative act is the detection of robot-to-robot encounters. We studied
the performance of the robotic swarm under four environmental conditions and investigated the dynamics of the aggregation
behaviour as well as the flexibility and the robustness of the solutions. In summary, we can report that the tested robotic
swarm showed two main characteristic features of swarm systems: it behaved flexible and the achieved solutions were very robust.
This was achieved with limited individual sensor abilities and with low computational effort on each single robot in the swarm. 相似文献
7.
群机器人由许多简单的无差别的机器人组成,是多机器人系统的一个重要研究方向。虽然其相比个体机器人有良好的容错性和鲁棒性,但是在机器人发生局部故障--有信息交互能力但无驱动能力时,群机器人系统会受到影响。针 对这一问题,以基于生物免疫系统原理的肉芽肿形成算法为基础,引入离散粒子群算法选取最优的自恢复策略,使群机器人系统实现故障自恢复并更快更有效地完成任务。仿真实验结果表明该算法在群机器人自恢复系统中具有良好的效果。 相似文献
8.
The decentralized aggregate motion of many individual robots is known as robotic flocking. The study of robotic flocking has received considerable attention in the past twenty years. As we begin to deploy flocking control algorithms on physical multi-agent and swarm systems, there is an increasing necessity for rigorous promises on safety and performance. In this paper, we present an overview the literature focusing on optimization approaches to achieve flocking behavior that provide strong safety guarantees. We separate the literature into cluster and line flocking, and categorize cluster flocking with respect to the system-level objective, which may be realized by a reactive or planning control algorithm. We also categorize the line flocking literature by the energy-saving mechanism that is exploited by the agents. We present several approaches aimed at minimizing the communication and computational requirements in real systems via neighbor filtering and event-driven planning, and conclude with our perspective on the outlook and future research direction of optimal flocking as a field. 相似文献
9.
HuiKeng Lau Iain Bate Paul Cairns Jon TimmisAuthor vitae 《Robotics and Autonomous Systems》2011,59(12):1021-1035
Swarm robotics is an example of a complex system with interactions among distributed autonomous robots as well with the environment. Within the swarm there is no centralised control, behaviour emerges from interactions between agents within the swarm. Agents within the swarm exhibit time varying behaviour in dynamic environments, and are subject to a variety of possible anomalies. The focus within our work is on specific faults in individual robots that can affect the global performance of the robotic swarm. We argue that classical approaches for achieving tolerance through implicit redundancy is insufficient in some cases and additional measures should be explored. Our contribution is to demonstrate that tolerance through explicit detection with statistical techniques works well and is suitable due to its lightweight computation. 相似文献
10.
Clare Dixon Alan F.T. Winfield Michael Fisher Chengxiu Zeng 《Robotics and Autonomous Systems》2012,60(11):1429-1441
A robot swarm is a collection of simple robots designed to work together to carry out some task. Such swarms rely on the simplicity of the individual robots; the fault tolerance inherent in having a large population of identical robots; and the self-organised behaviour of the swarm as a whole. Although robot swarms present an attractive solution to demanding real-world applications, designing individual control algorithms that can guarantee the required global behaviour is a difficult problem. In this paper we assess and apply the use of formal verification techniques for analysing the emergent behaviours of robotic swarms. These techniques, based on the automated analysis of systems using temporal logics, allow us to analyse whether all possible behaviours within the robot swarm conform to some required specification. In particular, we apply model-checking, an automated and exhaustive algorithmic technique, to check whether temporal properties are satisfied on all the possible behaviours of the system. We target a particular swarm control algorithm that has been tested in real robotic swarms, and show how automated temporal analysis can help to refine and analyse such an algorithm. 相似文献
11.
This article presents a bio-inspired communication strategy for large-scale robotic swarms. The strategy is based purely on robot-to-robot interactions without any central unit of communication. Thus, the emerging swarm regulates itself in a purely self-organized way. The strategy is biologically inspired by the trophallactic behavior (mouth-to-mouth feedings) performed by social insects. We show how this strategy can be used in a collective foraging scenario and how the efficiency of this strategy can be shaped by evolutionary computation. Although the algorithm works stable enough that it can be easily parameterized by hand, we found that artificial evolution could further increase the efficiency of the swarm’s behavior. We investigated the suggested communication strategy by simulation of robotic swarms in several arena scenarios and studied the properties of some of the emergent collective decisions made by the robots. We found that our control algorithm led to a nonlinear, but graduated path selection of the emerging trail of loaded robots. They favored the shortest path, but not all robots converged to this trail, except in arena setups with extreme differences in the length of the two possible paths. Finally, we demonstrate how the flexibility of collective decisions that arise through this new strategy can be used in changing environments. We furthermore show the importance of a negative feedback in an environment with changing foraging targets. Such feedback loops allow outdated information to decay over time. We found that task efficiency is constrained by a lower and an upper boundary concerning the strength of this negative feedback. 相似文献
12.
Farshad Arvin Simon Watson Ali Emre Turgut Jose Espinosa Tomáš Krajník Barry Lennox 《Journal of Intelligent and Robotic Systems》2018,92(3-4):395-412
Swarm robotics studies the intelligent collective behaviour emerging from long-term interactions of large number of simple robots. However, maintaining a large number of robots operational for long time periods requires significant battery capacity, which is an issue for small robots. Therefore, re-charging systems such as automated battery-swapping stations have been implemented. These systems require that the robots interrupt, albeit shortly, their activity, which influences the swarm behaviour. In this paper, a low-cost on-the-fly wireless charging system, composed of several charging cells, is proposed for use in swarm robotic research studies. To determine the system’s ability to support perpetual swarm operation, a probabilistic model that takes into account the swarm size, robot behaviour and charging area configuration, is outlined. Based on the model, a prototype system with 12 charging cells and a small mobile robot, Mona, was developed. A series of long-term experiments with different arenas and behavioural configurations indicated the model’s accuracy and demonstrated the system’s ability to support perpetual operation of multi-robotic system. 相似文献
13.
Surface metrology systems are increasingly used for inspecting dimensional quality in manufacturing. The gauge of these measurement systems is often mounted as an end-effector on robotic systems to exploit the robots’ high degrees of freedom to reposition the gauge to different viewpoints. With this repositioning flexibility, a planning methodology becomes necessary in order to carefully plan the viewpoints, as well as the optimal sequence and quickest path to move the gauge to each viewpoint. This paper investigates coverage path planning for robotic single-sided dimensional inspection of free-form surfaces. Reviewing existing feasible state-of-the-art methodologies to solve this problem led to identifying an unexplored opportunity to improve the coverage path planning, specifically by replacing random viewpoint sampling strategy. This study reveals that a non-random targetted viewpoint sampling strategy significantly contributes to solution quality of the resulting planned coverage path. By deploying optimisation during the viewpoint sampling, an optimal set of admissible viewpoints can be obtained, which consequently significantly shortens the cycle-time for the inspection task. Results that evaluate the proposed viewpoint sampling strategy for two industrial sheet metal parts, as well as a comparison with the state-of-the-art are presented. The results show up to 23.8% reduction in cycle-time for the inspection task when using targetted viewpoints sampling. 相似文献
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This paper presents an algorithm called augmented Lagrangian particle swarm optimization with velocity limits (VL-ALPSO).
It uses a particle swarm optimization (PSO) based algorithm to optimize the motion planning for swarm mobile robots. Considering
problems with engineering constraints and obstacles in the environment, the algorithm combines the method of augmented Lagrangian
multipliers and strategies of velocity limits and virtual detectors so as to ensure enforcement of constraints, obstacle avoidance
and mutual avoidance. All the strategies together with basic PSO are corresponding to real situations of swarm mobile robots
in coordinated movements. This work also builds a swarm motion model based on Euler forward time integration that involves
some mechanical properties such as masses, inertias or external forces to the swarm robotic system. Simulations show that
the robots moving in the environment display the desired behavior. Each robot has the ability to do target searching, obstacle
avoidance, random wonder, acceleration or deceleration and escape entrapment. So, in summary due to the characteristic features
of the VL-ALPSO algorithm, after some engineering adaptation, it can work well for the planning of coordinated movements of
swarm robotic systems. 相似文献
16.
Rybski P.E. Papanikolopoulos N.P. Stoeter S.A. Krantz D.G. Yesin K.B. Gini M. Voyles R. Hougen D.F. Nelson B. Erickson M.D. 《Robotics & Automation Magazine, IEEE》2000,7(4):14-24
Reconnaissance and surveillance are important activities for both military and civilian organizations, for hostage and survivor rescue, drug raids, response to chemical or toxic waste spills etc. We have developed a distributed heterogeneous robotic team that is based mainly on a miniature robotic system. Because some operations require covert action, most of the robots are extremely small. This also allows them to be easily transported and allows for a greater number to be brought into use for a single operation. This makes them expendable without jeopardizing the overall mission. We call these small robots scouts. Their individual components must all be exceedingly small, and their overall design must make maximum use of all available space. They must make efficient use of resources (e.g., batteries). We meet these challenges with an innovative design and creative use of additional support. We team the scouts with larger ranger robots, which can transport the scouts over distances of several kilometers, deploy them rapidly over a large area, coordinate their behavior, and collect and present the resulting data. We present the scouts and rangers, discuss their capabilities along with the associated software, and describe demonstrations conducted to test the innovative aspects of the system. We also discuss related work, analyze our results, and draw conclusions 相似文献
17.
集群机器人系统特性评价研究综述 总被引:1,自引:1,他引:0
集群机器人系统是群体智能的一个重要应用研究领域, 也是机器人系统未来发展的重要方向之一. 集群机器人系统特性评价是一个极具挑战性的关键技术与理论问题, 对于集群机器人系统的研究与发展具有重要意义. 首先, 给出了对集群机器人系统基本概念的理解, 并且从多种不同角度作出了分类. 其次, 梳理了多个关键的集群机器人系统期望特性; 在此基础上, 分别从评价标准、评价指标体系和评价方法三方面对已有集群机器人系统特性评价研究成果进行了比较全面的评述. 最后, 分析总结了当前集群机器人系统特性评价研究工作的不足, 并对未来发展方向进行了展望. 相似文献
18.
《Robotics and Autonomous Systems》2006,54(11):933-943
Mobile robots must cope with uncertainty from many sources along the path from interpreting raw sensor inputs to behavior selection to execution of the resulting primitive actions. This article identifies several such sources and introduces methods for (i) reducing uncertainty and (ii) making decisions in the face of uncertainty. We present a complete vision-based robotic system that includes several algorithms for learning models that are useful and necessary for planning, and then place particular emphasis on the planning and decision-making capabilities of the robot. Specifically, we present models for autonomous color calibration, autonomous sensor and actuator modeling, and an adaptation of particle filtering for improved localization on legged robots. These contributions enable effective planning under uncertainty for robots engaged in goal-oriented behavior within a dynamic, collaborative and adversarial environment. Each of our algorithms is fully implemented and tested on a commercial off-the-shelf vision-based quadruped robot. 相似文献
19.
Claudiney R. Tinoco Danielli A. Lima Gina M. B. Oliveira 《International Journal of Parallel, Emergent and Distributed Systems》2019,34(1):53-77
ABSTRACTAn inverted ant cellular automata model called IACA-DI is proposed for the coordination of a swarm of robots performing the surveillance task. The swarm communicate indirectly through the repulsive pheromone, which is available as neighborhood information. The pheromone is deposited at each time step by each robot over its neighborhood. The new model started from a previous one named IACA. However, a discrete modeling of the pheromone diffusion is used in IACA-DI returning a sparser distribution of the robots over the environment. Next movement decisions are based on stochastic cellular automata rules that use the pheromone levels in the neighborhood to perform a probabilistic draw. While in IACA all the neighborhood cells participate in this draw, just a subgroup of them participate in the IACA-DI. It is formed by elite cells ? those with the lowest pheromone levels - and some random selected ones. Besides, the cell that keeps the current robot’s direction receives an increment in its probability to be chosen, giving an inertial tendency to the robot motion. Simple simulations were performed enabling to refine parameters and to choose the better strategies. After this refinement, the resultant model was implemented in the simulation platform Webots? aiming to evaluate IACA-DI with real-world robotic architecture in more realistic scenarios.IACA-DI is a new model for the coordination of robot swarms performing the surveillance task. It is based on cellular automata modeling and the swarm communicate indirectly through the repulsive pheromone deposited by the robots in the environment cells. Letters (a) and (b) show two snapshots from a simulation of a 3-robots swarm performing the surveillance task. The robots start at random positions in an environment composed by 7 rooms in (a). Thus, based on the IACA-DI decisions, they start to make steps to explore the environment aiming to cover all the rooms in a short interval of time. The trace of each robot after 100 time steps is shown in (b) by representing each individual trajectory with a different color. The behavior of each robot is managed by the IACA-DI model, which can be represented by the FSM with 4 states in (c). Different strategies and formulations were investigated for the two major states ‘next position decision’ and ‘pheromone deposition’. The resultant IACA-DI model is analyzed here using simulations performed in Webots? platform -as the snapshots shown in (a) and (b) -with real-world robotic architectures. 相似文献
20.
With ever increasing global demand and depleting resources for fossil fuels, oil and gas industry is now positively looking for advanced robotic solutions to increase their productivity and safety. With time easy resources of the fossil fuels are shrinking and newly searched reservoirs, to feed supply demands of global consumption, are mostly located in extreme environmental conditions such as hot deserts, deep water and arctic zone etc. Production of the fossil fuels, in such inhospitable environmental conditions, poses difficult challenges to health, safety and environment (HSE). Tragic incidents like Exxon Valdez and Deepwater Horizon oil spills are examples of such challenges. Therefore, oil and gas industry has lot to learn from successful implementation of robotics and automation for dull, dirty and dangerous (3D) tasks of manufacturing industry. Most of the robotics technologies, currently used in the oil and gas industry, are mainly focused on inspection, maintenance and repair (IMR) of plant facilities with higher frequency and accuracy. Fundamental idea, involved in the automatization of these processes, is based on the principle of teleoperation with skilled operator. Automation of 3D tasks not only improves HSE standards but also lead to much needed economic efficiency by reducing production cycle, floor space and number of staff members required for continuous inspection and manipulation of plant facilities. Considering the risks involved in this industry usage of completely autonomous robots, first without achieving very high reliability, is still a far fetch choice. Therefore, semi-autonomous robots, where actions are performed by robots but cognitive decisions are still taken by skilled operator, is an excellent choice for this industry as a near future solution. In the onshore oil and gas industry robotic solutions are used both in upstream and downstream processes, such as site survey, drilling, production and transportation, mainly focused in the form of in-pipe inspection robots (IPIRs), tank inspection robots (TIRs), unmanned aerial vehicles (UAVs) and wireless sensor networks (WSNs) etc. This paper presents the state of art robotic solutions currently used in onshore oil and gas facilities. 相似文献