A robot swarm assisting a human fire-fighter

Emergencies in industrial warehouses are a major concern for fire-fighters. The large dimensions, together with the development of dense smoke that drastically reduces visibility, represent major challenges. The GUARDIANS robot swarm is designed to assist fire-fighters in searching a large warehouse. In this paper we discuss the technology developed for a swarm of robots assisting fire-fighters. We explain the swarming algorithms that provide the functionality by which the robots react to and follow humans while no communication is required. Next we discuss the wireless communication system, which is a so-called mobile ad-hoc network. The communication network provides also the means to locate the robots and humans. Thus, the robot swarm is able to provide guidance information to the humans. Together with the fire-fighters we explored how the robot swarm should feed information back to the human fire-fighter. We have designed and experimented with interfaces for presenting swarm-based information to human beings

GUARDIANS final report

Emergencies in industrial warehouses are a major concern for firefghters. The large dimensions together with the development of dense smoke that drastically reduces visibility, represent major challenges. The Guardians robot swarm is designed to assist fire fighters in searching a large warehouse. In this report we discuss the technology developed for a swarm of robots searching and assisting fire fighters. We explain the swarming algorithms which provide the functionality by which the robots react to and follow humans while no communication is required. Next we discuss the wireless communication system, which is a so-called mobile ad-hoc network. The communication network provides also one of the means to locate the robots and humans. Thus the robot swarm is able to locate itself and provide guidance information to the humans. Together with the re ghters we explored how the robot swarm should feed information back to the human fire fighter. We have designed and experimented with interfaces for presenting swarm based information to human beings

Multi-robot team formation control in the GUARDIANS project

Purpose The GUARDIANS multi-robot team is to be deployed in a large warehouse in smoke. The team is to assist firefighters search the warehouse in the event or danger of a fire. The large dimensions of the environment together with development of smoke which drastically reduces visibility, represent major challenges for search and rescue operations. The GUARDIANS robots guide and accompany the firefighters on site whilst indicating possible obstacles and the locations of danger and maintaining communications links. Design/methodology/approach In order to fulfill the aforementioned tasks the robots need to exhibit certain behaviours. Among the basic behaviours are capabilities to stay together as a group, that is, generate a formation and navigate while keeping this formation. The control model used to generate these behaviours is based on the so-called social potential field framework, which we adapt to the specific tasks required for the GUARDIANS scenario. All tasks can be achieved without central control, and some of the behaviours can be performed without explicit communication between the robots. Findings The GUARDIANS environment requires flexible formations of the robot team: the formation has to adapt itself to the circumstances. Thus the application has forced us to redefine the concept of a formation. Using the graph-theoretic terminology, we can say that a formation may be stretched out as a path or be compact as a star or wheel. We have implemented the developed behaviours in simulation environments as well as on real ERA-MOBI robots commonly referred to as Erratics. We discuss advantages and shortcomings of our model, based on the simulations as well as on the implementation with a team of Erratics.</p

Metaheuristics “In the Large”

Many people have generously given their time to the various activities of the MitL initiative. Particular gratitude is due to Adam Barwell, John A. Clark, Patrick De Causmaecker, Emma Hart, Zoltan A. Kocsis, Ben Kovitz, Krzysztof Krawiec, John McCall, Nelishia Pillay, Kevin Sim, Jim Smith, Thomas Stutzle, Eric Taillard and Stefan Wagner. J. Swan acknowledges the support of UK EPSRC grant EP/J017515/1 and the EU H2020 SAFIRE Factories project. P. GarciaSanchez and J. J. Merelo acknowledges the support of TIN201785727-C4-2-P by the Spanish Ministry of Economy and Competitiveness. M. Wagner acknowledges the support of the Australian Research Council grants DE160100850 and DP200102364.Following decades of sustained improvement, metaheuristics are one of the great success stories of opti- mization research. However, in order for research in metaheuristics to avoid fragmentation and a lack of reproducibility, there is a pressing need for stronger scientific and computational infrastructure to sup- port the development, analysis and comparison of new approaches. To this end, we present the vision and progress of the Metaheuristics “In the Large”project. The conceptual underpinnings of the project are: truly extensible algorithm templates that support reuse without modification, white box problem descriptions that provide generic support for the injection of domain specific knowledge, and remotely accessible frameworks, components and problems that will enhance reproducibility and accelerate the field’s progress. We argue that, via such principled choice of infrastructure support, the field can pur- sue a higher level of scientific enquiry. We describe our vision and report on progress, showing how the adoption of common protocols for all metaheuristics can help liberate the potential of the field, easing the exploration of the design space of metaheuristics.UK Research & Innovation (UKRI)Engineering & Physical Sciences Research Council (EPSRC) EP/J017515/1EU H2020 SAFIRE Factories projectSpanish Ministry of Economy and Competitiveness TIN201785727-C4-2-PAustralian Research Council DE160100850 DP20010236

On Specifying for Trustworthiness

As autonomous systems (AS) increasingly become part of our daily lives, ensuring their trustworthiness is crucial. In order to demonstrate the trustworthiness of an AS, we first need to specify what is required for an AS to be considered trustworthy. This roadmap paper identifies key challenges for specifying for trustworthiness in AS, as identified during the "Specifying for Trustworthiness" workshop held as part of the UK Research and Innovation (UKRI) Trustworthy Autonomous Systems (TAS) programme. We look across a range of AS domains with consideration of the resilience, trust, functionality, verifiability, security, and governance and regulation of AS and identify some of the key specification challenges in these domains. We then highlight the intellectual challenges that are involved with specifying for trustworthiness in AS that cut across domains and are exacerbated by the inherent uncertainty involved with the environments in which AS need to operate.Comment: Accepted version of paper. 13 pages, 1 table, 1 figur