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A Survey on Cooperative Longitudinal Motion Control of Multiple Connected and Automated Vehicles
Robotic Wireless Sensor Networks
In this chapter, we present a literature survey of an emerging, cutting-edge,
and multi-disciplinary field of research at the intersection of Robotics and
Wireless Sensor Networks (WSN) which we refer to as Robotic Wireless Sensor
Networks (RWSN). We define a RWSN as an autonomous networked multi-robot system
that aims to achieve certain sensing goals while meeting and maintaining
certain communication performance requirements, through cooperative control,
learning and adaptation. While both of the component areas, i.e., Robotics and
WSN, are very well-known and well-explored, there exist a whole set of new
opportunities and research directions at the intersection of these two fields
which are relatively or even completely unexplored. One such example would be
the use of a set of robotic routers to set up a temporary communication path
between a sender and a receiver that uses the controlled mobility to the
advantage of packet routing. We find that there exist only a limited number of
articles to be directly categorized as RWSN related works whereas there exist a
range of articles in the robotics and the WSN literature that are also relevant
to this new field of research. To connect the dots, we first identify the core
problems and research trends related to RWSN such as connectivity,
localization, routing, and robust flow of information. Next, we classify the
existing research on RWSN as well as the relevant state-of-the-arts from
robotics and WSN community according to the problems and trends identified in
the first step. Lastly, we analyze what is missing in the existing literature,
and identify topics that require more research attention in the future
Accurate position tracking with a single UWB anchor
Accurate localization and tracking are a fundamental requirement for robotic
applications. Localization systems like GPS, optical tracking, simultaneous
localization and mapping (SLAM) are used for daily life activities, research,
and commercial applications. Ultra-wideband (UWB) technology provides another
venue to accurately locate devices both indoors and outdoors. In this paper, we
study a localization solution with a single UWB anchor, instead of the
traditional multi-anchor setup. Besides the challenge of a single UWB ranging
source, the only other sensor we require is a low-cost 9 DoF inertial
measurement unit (IMU). Under such a configuration, we propose continuous
monitoring of UWB range changes to estimate the robot speed when moving on a
line. Combining speed estimation with orientation estimation from the IMU
sensor, the system becomes temporally observable. We use an Extended Kalman
Filter (EKF) to estimate the pose of a robot. With our solution, we can
effectively correct the accumulated error and maintain accurate tracking of a
moving robot.Comment: Accepted by ICRA202
Artificial Intelligence and Systems Theory: Applied to Cooperative Robots
This paper describes an approach to the design of a population of cooperative
robots based on concepts borrowed from Systems Theory and Artificial
Intelligence. The research has been developed under the SocRob project, carried
out by the Intelligent Systems Laboratory at the Institute for Systems and
Robotics - Instituto Superior Tecnico (ISR/IST) in Lisbon. The acronym of the
project stands both for "Society of Robots" and "Soccer Robots", the case study
where we are testing our population of robots. Designing soccer robots is a
very challenging problem, where the robots must act not only to shoot a ball
towards the goal, but also to detect and avoid static (walls, stopped robots)
and dynamic (moving robots) obstacles. Furthermore, they must cooperate to
defeat an opposing team. Our past and current research in soccer robotics
includes cooperative sensor fusion for world modeling, object recognition and
tracking, robot navigation, multi-robot distributed task planning and
coordination, including cooperative reinforcement learning in cooperative and
adversarial environments, and behavior-based architectures for real time task
execution of cooperating robot teams
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