Adaptive and learning-based formation control of swarm robots

Autonomous aerial and wheeled mobile robots play a major role in tasks such as search and rescue, transportation, monitoring, and inspection. However, these operations are faced with a few open challenges including robust autonomy, and adaptive coordination based on the environment and operating conditions, particularly in swarm robots with limited communication and perception capabilities. Furthermore, the computational complexity increases exponentially with the number of robots in the swarm. This thesis examines two different aspects of the formation control problem. On the one hand, we investigate how formation could be performed by swarm robots with limited communication and perception (e.g., Crazyflie nano quadrotor). On the other hand, we explore human-swarm interaction (HSI) and different shared-control mechanisms between human and swarm robots (e.g., BristleBot) for artistic creation. In particular, we combine bio-inspired (i.e., flocking, foraging) techniques with learning-based control strategies (using artificial neural networks) for adaptive control of multi- robots. We first review how learning-based control and networked dynamical systems can be used to assign distributed and decentralized policies to individual robots such that the desired formation emerges from their collective behavior. We proceed by presenting a novel flocking control for UAV swarm using deep reinforcement learning. We formulate the flocking formation problem as a partially observable Markov decision process (POMDP), and consider a leader-follower configuration, where consensus among all UAVs is used to train a shared control policy, and each UAV performs actions based on the local information it collects. In addition, to avoid collision among UAVs and guarantee flocking and navigation, a reward function is added with the global flocking maintenance, mutual reward, and a collision penalty. We adapt deep deterministic policy gradient (DDPG) with centralized training and decentralized execution to obtain the flocking control policy using actor-critic networks and a global state space matrix. In the context of swarm robotics in arts, we investigate how the formation paradigm can serve as an interaction modality for artists to aesthetically utilize swarms. In particular, we explore particle swarm optimization (PSO) and random walk to control the communication between a team of robots with swarming behavior for musical creation

Constructing living buildings: a review of relevant technologies for a novel application of biohybrid robotics

Biohybrid robotics takes an engineering approach to the expansion and exploitation of biological behaviours for application to automated tasks. Here, we identify the construction of living buildings and infrastructure as a high-potential application domain for biohybrid robotics, and review technological advances relevant to its future development. Construction, civil infrastructure maintenance and building occupancy in the last decades have comprised a major portion of economic production, energy consumption and carbon emissions. Integrating biological organisms into automated construction tasks and permanent building components therefore has high potential for impact. Live materials can provide several advantages over standard synthetic construction materials, including self-repair of damage, increase rather than degradation of structural performance over time, resilience to corrosive environments, support of biodiversity, and mitigation of urban heat islands. Here, we review relevant technologies, which are currently disparate. They span robotics, self-organizing systems, artificial life, construction automation, structural engineering, architecture, bioengineering, biomaterials, and molecular and cellular biology. In these disciplines, developments relevant to biohybrid construction and living buildings are in the early stages, and typically are not exchanged between disciplines. We, therefore, consider this review useful to the future development of biohybrid engineering for this highly interdisciplinary application.publishe

A Comprehensive Survey on Particle Swarm Optimization Algorithm and Its Applications

Particle swarm optimization (PSO) is a heuristic global optimization method, proposed originally by Kennedy and Eberhart in 1995. It is now one of the most commonly used optimization techniques. This survey presented a comprehensive investigation of PSO. On one hand, we provided advances with PSO, including its modifications (including quantum-behaved PSO, bare-bones PSO, chaotic PSO, and fuzzy PSO), population topology (as fully connected, von Neumann, ring, star, random, etc.), hybridization (with genetic algorithm, simulated annealing, Tabu search, artificial immune system, ant colony algorithm, artificial bee colony, differential evolution, harmonic search, and biogeography-based optimization), extensions (to multiobjective, constrained, discrete, and binary optimization), theoretical analysis (parameter selection and tuning, and convergence analysis), and parallel implementation (in multicore, multiprocessor, GPU, and cloud computing forms). On the other hand, we offered a survey on applications of PSO to the following eight fields: electrical and electronic engineering, automation control systems, communication theory, operations research, mechanical engineering, fuel and energy, medicine, chemistry, and biology. It is hoped that this survey would be beneficial for the researchers studying PSO algorithms

Recent Advances in Multi Robot Systems

To design a team of robots which is able to perform given tasks is a great concern of many members of robotics community. There are many problems left to be solved in order to have the fully functional robot team. Robotics community is trying hard to solve such problems (navigation, task allocation, communication, adaptation, control, ...). This book represents the contributions of the top researchers in this field and will serve as a valuable tool for professionals in this interdisciplinary field. It is focused on the challenging issues of team architectures, vehicle learning and adaptation, heterogeneous group control and cooperation, task selection, dynamic autonomy, mixed initiative, and human and robot team interaction. The book consists of 16 chapters introducing both basic research and advanced developments. Topics covered include kinematics, dynamic analysis, accuracy, optimization design, modelling, simulation and control of multi robot systems

Program and Proceedings: The Nebraska Academy of Sciences 1880-2010

PROGRAM FRIDAY, APRIL 23, 2010 REGISTRATION FOR ACADEMY, Lobby of Lecture wing, Olin Hall Aeronautics and Space Science, Session A, Olin 249 Aeronautics and Space Science, Session B, Olin 224 Chemistry and Physics, Section A, Chemistry, Olin A Collegiate Academy, Biology Session A, Olin B Collegiate Academy, Chemistry and Physics, Session A, Olin 324 Biological and Medical Sciences, Session A, Olin 112 Biological and Medical Sciences, Session B, Smith Callen Conference Center Chemistry and Physics, Section B, Physics, Planetarium History and Philosophy of Science, Olin 325 Junior Academy, Judges Check-In, Olin 219 Junior Academy, Senior High REGISTRATION, Olin Hall Lobby NWU Health and Sciences Graduate School Fair, Olin and Smith Curtiss Halls Junior Academy, Senior High Competition, Olin 124, Olin 131 Aeronautics and Space Science, Poster Session, Olin 249 Teaching of Science and Math, Olin 325 MAIBEN MEMORIAL LECTURE, OLIN B Dr. Mark Greip, Vice-Chair, Department of Chemistry, University of Nebraska-Lincoln LUNCH, PATIO ROOM, STORY STUDENT CENTER (pay and carry tray through cafeteria line, or pay at NAS registration desk) Aeronautics Group, Conestoga Room Anthropology, Olin 111 Biological and Medical Sciences, Session C, Olin 112 Biological and Medical Sciences, Session D, Smith Callen Conference Center Chemistry and Physics, Section A, Chemistry, Olin A Chemistry and Physics, Section B, Physics, Planetarium Collegiate Academy, Biology Session A, Olin B Collegiate Academy, Biology Session B, Olin 249 Collegiate Academy, Chemistry and Physics, Session A, Olin 324 Junior Academy, Judges Check-In, Olin 219 Junior Academy, Junior High REGISTRATION, Olin Hall Lobby Junior Academy, Senior High Competition, (Final), Olin 110 Earth Science, Olin 224 Junior Academy, Junior High Competition, Olin 124, Olin 131 NJAS Board/Teacher Meeting, Olin 219 Junior Academy, General Awards Presentations, Smith Callen Conference Center BUSINESS MEETING, OLIN B SOCIAL HOUR for Members, Spouses, and Guests First United Methodist Church, 2723 N 50th Street, Lincoln, NE ANNUAL BANQUET and Presentation of Awards and Scholarships First United Methodist Church, 2723 N 50th Street, Lincoln, N

Digital Interaction and Machine Intelligence

This book is open access, which means that you have free and unlimited access. This book presents the Proceedings of the 9th Machine Intelligence and Digital Interaction Conference. Significant progress in the development of artificial intelligence (AI) and its wider use in many interactive products are quickly transforming further areas of our life, which results in the emergence of various new social phenomena. Many countries have been making efforts to understand these phenomena and find answers on how to put the development of artificial intelligence on the right track to support the common good of people and societies. These attempts require interdisciplinary actions, covering not only science disciplines involved in the development of artificial intelligence and human-computer interaction but also close cooperation between researchers and practitioners. For this reason, the main goal of the MIDI conference held on 9-10.12.2021 as a virtual event is to integrate two, until recently, independent fields of research in computer science: broadly understood artificial intelligence and human-technology interaction

PROGRAM and PROCEEDINGS THE NEBRASKA ACADEMY OF SCIENCES 1880-2017 Including the Nebraska Association of Teachers of Science (NATS) Division Nebraska Junior Academy of Sciences (NJAS) Affiliate and Affiliated Societies

FRIDAY, APRIL 21, 2017 7:30 a.m. REGISTRATION FOR ACADEMY, Lobby of Lecture wing, Olin Hall 8:00 Aeronautics and Space Science, Session A, Olin 249 Aeronautics and Space Science, Session B, Olin 224 Chemistry and Physics, Section A, Chemistry, Olin A Collegiate Academy, Biology, Session A, Olin B Collegiate Academy, Biology, Session B, Olin 112 Collegiate Academy, Chemistry and Physics, Session A, Olin 324 8:30 Biological and Medical Sciences, Session A, Smith Callen Conference Center 9:10 Aeronautics and Space Science, Poster Session, Olin 249 9:40 Applied Science and Technology, Olin 325 10:00 Chemistry and Physics, Physics, Section B, Planetarium 10:30 Aeronautics and Space Science, Poster Session, Olin 249 11:00 MAIBEN MEMORIAL LECTURE, OLIN B – Scholarship and Friend of Science Recipients also announced. 12:00 LUNCH, PATIO ROOM, STORY STUDENT CENTER Aeronautics Group, Sunflower Room 1:00 p.m. Anthropology, Olin 111 Biological and Medical Sciences, Session B, Smith Callen Conference Center Collegiate Academy, Biology, Session A, Olin B Collegiate Academy, Biology, Session B, Olin 112 Collegiate Academy, Chemistry and Physics, Session B, Olin 324 Earth Science, Olin 249 1:05 Applied Science and Technology, Olin 325 1:15 Teaching of Science and Math, Olin 224 Chemistry and Physics, Section A, Chemistry, Olin A 2:45 Environmental Sciences, Olin 249 4:30 BUSINESS MEETING, OLIN B Abstracts of papers 2016-2017 EXECUTIVE COMMITTEE 2016-2017 PROGRAM COMMITTEE 2016-2017 POLICY COMMITTEE FRIENDS OF THE ACADEMY FRIEND OF SCIENCE AWARD WINNERS FRIEND OF SCIENCE AWARD TO KACIE BAUM FRIEND OF SCIENCE AWARD TO TODD YOUNG Author Index 141 p

Cyber-Human Systems, Space Technologies, and Threats

CYBER-HUMAN SYSTEMS, SPACE TECHNOLOGIES, AND THREATS is our eighth textbook in a series covering the world of UASs / CUAS/ UUVs / SPACE. Other textbooks in our series are Space Systems Emerging Technologies and Operations; Drone Delivery of CBNRECy – DEW Weapons: Emerging Threats of Mini-Weapons of Mass Destruction and Disruption (WMDD); Disruptive Technologies with applications in Airline, Marine, Defense Industries; Unmanned Vehicle Systems & Operations On Air, Sea, Land; Counter Unmanned Aircraft Systems Technologies and Operations; Unmanned Aircraft Systems in the Cyber Domain: Protecting USA’s Advanced Air Assets, 2nd edition; and Unmanned Aircraft Systems (UAS) in the Cyber Domain Protecting USA’s Advanced Air Assets, 1st edition. Our previous seven titles have received considerable global recognition in the field. (Nichols & Carter, 2022) (Nichols, et al., 2021) (Nichols R. K., et al., 2020) (Nichols R. , et al., 2020) (Nichols R. , et al., 2019) (Nichols R. K., 2018) (Nichols R. K., et al., 2022)https://newprairiepress.org/ebooks/1052/thumbnail.jp

An Approach Based on Particle Swarm Optimization for Inspection of Spacecraft Hulls by a Swarm of Miniaturized Robots

The remoteness and hazards that are inherent to the operating environments of space infrastructures promote their need for automated robotic inspection. In particular, micrometeoroid and orbital debris impact and structural fatigue are common sources of damage to spacecraft hulls. Vibration sensing has been used to detect structural damage in spacecraft hulls as well as in structural health monitoring practices in industry by deploying static sensors. In this paper, we propose using a swarm of miniaturized vibration-sensing mobile robots realizing a network of mobile sensors. We present a distributed inspection algorithm based on the bio-inspired particle swarm optimization and evolutionary algorithm niching techniques to deliver the task of enumeration and localization of an a priori unknown number of vibration sources on a simplified 2.5D spacecraft surface. Our algorithm is deployed on a swarm of simulated cm-scale wheeled robots. These are guided in their inspection task by sensing vibrations arising from failure points on the surface which are detected by on-board accelerometers. We study three performance metrics: (1) proximity of the localized sources to the ground truth locations, (2) time to localize each source, and (3) time to finish the inspection task given a 75% inspection coverage threshold. We find that our swarm is able to successfully localize the present so