Development of distributed control architecture for multi-robot systems

The execution of complex tasks by teams of robots has been widely investigated in the last decades, since many operations are too risky or difficult to be performed by humans or by a single robot. The complexity and variety of applications of mobile robotics make the coordination of teams a big problem, as several topologies of control systems, from simple single processes to large networks with distributed elements that are capable of switching function, may be necessary. Although simple solutions exist, more efficient approaches use distributed communication architectures and components abstraction layers. Available proposals provide many components and interfaces, complicating their understanding and operation. This paper presents a generic control architecture that provides the developer with a small amount of elements implemented safely and on high-performance libraries. The simplicity and modularity of the proposal allow implementation of features such as control of heterogeneous robots, data source and command destination transparency and platform and language independence. The ability to support with reliability, transparency and ease the development of various scenarios of autonomous mobile robotics make the proposed architecture a powerful and valuable tool in the design and operation of these systems.Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)Centro de Tecnologia da Informação Renato Arche

A Survey and Analysis of Multi-Robot Coordination

International audienceIn the field of mobile robotics, the study of multi-robot systems (MRSs) has grown significantly in size and importance in recent years. Having made great progress in the development of the basic problems concerning single-robot control, many researchers shifted their focus to the study of multi-robot coordination. This paper presents a systematic survey and analysis of the existing literature on coordination, especially in multiple mobile robot systems (MMRSs). A series of related problems have been reviewed, which include a communication mechanism, a planning strategy and a decision-making structure. A brief conclusion and further research perspectives are given at the end of the paper

Autonomous construction using scarce resources in unknown environments - Ingredients for an intelligent robotic interaction with the physical world

The goal of creating machines that autonomously perform useful work in a safe, robust and intelligent manner continues to motivate robotics research. Achieving this autonomy requires capabilities for understanding the environment, physically interacting with it, predicting the outcomes of actions and reasoning with this knowledge. Such intelligent physical interaction was at the centre of early robotic investigations and remains an open topic. In this paper, we build on the fruit of decades of research to explore further this question in the context of autonomous construction in unknown environments with scarce resources. Our scenario involves a miniature mobile robot that autonomously maps an environment and uses cubes to bridge ditches and build vertical structures according to high-level goals given by a human. Based on a "real but contrived" experimental design, our results encompass practical insights for future applications that also need to integrate complex behaviours under hardware constraints, and shed light on the broader question of the capabilities required for intelligent physical interaction with the real world

Gaining Insight into Determinants of Physical Activity using Bayesian Network Learning

Contains fulltext : 228326pre.pdf (preprint version ) (Open Access) Contains fulltext : 228326pub.pdf (publisher's version ) (Open Access)BNAIC/BeneLearn 202

Automatic synthesis of communication-based coordinated multi-robot systems

Abstract — To enable the successful deployment of taskachieving multi-robot systems (MRS), coordination mechanisms must be utilized in order to effectively mediate the interactions between the robots and the task environment. Over the past decade, there have been a number of elegant experimentally demonstrated MRS coordination mechanisms. Most of these mechanisms have been task-specific in nature, typically providing only empirical insights into coordination design and little in the way of systematic techniques to assist in the design of coordinated MRS for new task domains. To fully realize the potentials of MRS, formally-grounded systematic techniques amenable to analysis are needed in order to facilitate the design of coordinated MRS. We address this problem by presenting a formal framework for describing and reasoning about coordination in a MRS. Using this principled foundation, we are developing a suite of general methods for automatically synthesizing the controllers of robots constituting a MRS such that the given task is performed in a coordinated fashion. This paper presents a method for the automatic synthesis of a specific type of controller, one that is stateless but capable of inter-robot communication. We also present a graph coloring-based approach for minimizing the number of necessary unique communication messages. The synthesis of such communicative controllers provides a means for assessing the uses and limitations of communication in MRS coordination. We present experimental validation of our formal approach of controller synthesis in a multi-robot construction domain through physically-realistic simulations and in real-robot demonstrations. I