16,080 research outputs found
Safe, Remote-Access Swarm Robotics Research on the Robotarium
This paper describes the development of the Robotarium -- a remotely
accessible, multi-robot research facility. The impetus behind the Robotarium is
that multi-robot testbeds constitute an integral and essential part of the
multi-agent research cycle, yet they are expensive, complex, and time-consuming
to develop, operate, and maintain. These resource constraints, in turn, limit
access for large groups of researchers and students, which is what the
Robotarium is remedying by providing users with remote access to a
state-of-the-art multi-robot test facility. This paper details the design and
operation of the Robotarium as well as connects these to the particular
considerations one must take when making complex hardware remotely accessible.
In particular, safety must be built in already at the design phase without
overly constraining which coordinated control programs the users can upload and
execute, which calls for minimally invasive safety routines with provable
performance guarantees.Comment: 13 pages, 7 figures, 3 code samples, 72 reference
Blockchain Solutions for Multi-Agent Robotic Systems: Related Work and Open Questions
The possibilities of decentralization and immutability make blockchain
probably one of the most breakthrough and promising technological innovations
in recent years. This paper presents an overview, analysis, and classification
of possible blockchain solutions for practical tasks facing multi-agent robotic
systems. The paper discusses blockchain-based applications that demonstrate how
distributed ledger can be used to extend the existing number of research
platforms and libraries for multi-agent robotic systems.Comment: 5 pages, FRUCT-2019 conference pape
Motivations, Values and Emotions: 3 sides of the same coin
This position paper speaks to the interrelationships between the three concepts of motivations, values, and emotion. Motivations prime actions, values serve to choose between motivations, emotions provide a common currency for values, and emotions implement motivations. While conceptually distinct, the three are so pragmatically intertwined as to differ primarily from our taking different points of view. To make these points more transparent, we briefly describe the three in the context a cognitive architecture, the LIDA model, for software agents and robots that models human cognition, including a developmental period. We also compare the LIDA model with other models of cognition, some involving learning and emotions. Finally, we conclude that artificial emotions will prove most valuable as implementers of motivations in situations requiring learning and development
Towards adaptive multi-robot systems: self-organization and self-adaptation
Dieser Beitrag ist mit Zustimmung des Rechteinhabers aufgrund einer (DFG geförderten) Allianz- bzw. Nationallizenz frei zugänglich.This publication is with permission of the rights owner freely accessible due to an Alliance licence and a national licence (funded by the DFG, German Research Foundation) respectively.The development of complex systems ensembles that operate in uncertain environments is a major challenge. The reason for this is that system designers are not able to fully specify the system during specification and development and before it is being deployed. Natural swarm systems enjoy similar characteristics, yet, being self-adaptive and being able to self-organize, these systems show beneficial emergent behaviour. Similar concepts can be extremely helpful for artificial systems, especially when it comes to multi-robot scenarios, which require such solution in order to be applicable to highly uncertain real world application. In this article, we present a comprehensive overview over state-of-the-art solutions in emergent systems, self-organization, self-adaptation, and robotics. We discuss these approaches in the light of a framework for multi-robot systems and identify similarities, differences missing links and open gaps that have to be addressed in order to make this framework possible
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