Planning Algorithms for Multi-Robot Active Perception

A fundamental task of robotic systems is to use on-board sensors and perception algorithms to understand high-level semantic properties of an environment. These semantic properties may include a map of the environment, the presence of objects, or the parameters of a dynamic field. Observations are highly viewpoint dependent and, thus, the performance of perception algorithms can be improved by planning the motion of the robots to obtain high-value observations. This motivates the problem of active perception, where the goal is to plan the motion of robots to improve perception performance. This fundamental problem is central to many robotics applications, including environmental monitoring, planetary exploration, and precision agriculture. The core contribution of this thesis is a suite of planning algorithms for multi-robot active perception. These algorithms are designed to improve system-level performance on many fronts: online and anytime planning, addressing uncertainty, optimising over a long time horizon, decentralised coordination, robustness to unreliable communication, predicting plans of other agents, and exploiting characteristics of perception models. We first propose the decentralised Monte Carlo tree search algorithm as a generally-applicable, decentralised algorithm for multi-robot planning. We then present a self-organising map algorithm designed to find paths that maximally observe points of interest. Finally, we consider the problem of mission monitoring, where a team of robots monitor the progress of a robotic mission. A spatiotemporal optimal stopping algorithm is proposed and a generalisation for decentralised monitoring. Experimental results are presented for a range of scenarios, such as marine operations and object recognition. Our analytical and empirical results demonstrate theoretically-interesting and practically-relevant properties that support the use of the approaches in practice

Exploration autonome et efficiente de chantiers miniers souterrains inconnus avec un drone filaire

Abstract: Underground mining stopes are often mapped using a sensor located at the end of a pole that the operator introduces into the stope from a secure area. The sensor emits laser beams that provide the distance to a detected wall, thus creating a 3D map. This produces shadow zones and a low point density on the distant walls. To address these challenges, a research team from the Université de Sherbrooke is designing a tethered drone equipped with a rotating LiDAR for this mission, thus benefiting from several points of view. The wired transmission allows for unlimited flight time, shared computing, and real-time communication. For compatibility with the movement of the drone after tether entanglements, the excess length is integrated into an onboard spool, contributing to the drone payload. During manual piloting, the human factor causes problems in the perception and comprehension of a virtual 3D environment, as well as the execution of an optimal mission. This thesis focuses on autonomous navigation in two aspects: path planning and exploration. The system must compute a trajectory that maps the entire environment, minimizing the mission time and respecting the maximum onboard tether length. Path planning using a Rapidly-exploring Random Tree (RRT) quickly finds a feasible path, but the optimization is computationally expensive and the performance is variable and unpredictable. Exploration by the frontier method is representative of the space to be explored and the path can be optimized by solving a Traveling Salesman Problem (TSP) but existing techniques for a tethered drone only consider the 2D case and do not optimize the global path. To meet these challenges, this thesis presents two new algorithms. The first one, RRT-Rope, produces an equal or shorter path than existing algorithms in a significantly shorter computation time, up to 70% faster than the next best algorithm in a representative environment. A modified version of RRT-connect computes a feasible path, shortened with a deterministic technique that takes advantage of previously added intermediate nodes. The second algorithm, TAPE, is the first 3D cavity exploration method that focuses on minimizing mission time and unwound tether length. On average, the overall path is 4% longer than the method that solves the TSP, but the tether remains under the allowed length in 100% of the simulated cases, compared to 53% with the initial method. The approach uses a 2-level hierarchical architecture: global planning solves a TSP after frontier extraction, and local planning minimizes the path cost and tether length via a decision function. The integration of these two tools in the NetherDrone produces an intelligent system for autonomous exploration, with semi-autonomous features for operator interaction. This work opens the door to new navigation approaches in the field of inspection, mapping, and Search and Rescue missions.La cartographie des chantiers miniers souterrains est souvent réalisée à l’aide d’un capteur situé au bout d’une perche que l’opérateur introduit dans le chantier, depuis une zone sécurisée. Le capteur émet des faisceaux laser qui fournissent la distance à un mur détecté, créant ainsi une carte en 3D. Ceci produit des zones d’ombres et une faible densité de points sur les parois éloignées. Pour relever ces défis, une équipe de recherche de l’Université de Sherbrooke conçoit un drone filaire équipé d’un LiDAR rotatif pour cette mission, bénéficiant ainsi de plusieurs points de vue. La transmission filaire permet un temps de vol illimité, un partage de calcul et une communication en temps réel. Pour une compatibilité avec le mouvement du drone lors des coincements du fil, la longueur excédante est intégrée dans une bobine embarquée, qui contribue à la charge utile du drone. Lors d’un pilotage manuel, le facteur humain entraîne des problèmes de perception et compréhension d’un environnement 3D virtuel, et d’exécution d’une mission optimale. Cette thèse se concentre sur la navigation autonome sous deux aspects : la planification de trajectoire et l’exploration. Le système doit calculer une trajectoire qui cartographie l’environnement complet, en minimisant le temps de mission et en respectant la longueur maximale de fil embarquée. La planification de trajectoire à l’aide d’un Rapidly-exploring Random Tree (RRT) trouve rapidement un chemin réalisable, mais l’optimisation est coûteuse en calcul et la performance est variable et imprévisible. L’exploration par la méthode des frontières est représentative de l’espace à explorer et le chemin peut être optimisé en résolvant un Traveling Salesman Problem (TSP), mais les techniques existantes pour un drone filaire ne considèrent que le cas 2D et n’optimisent pas le chemin global. Pour relever ces défis, cette thèse présente deux nouveaux algorithmes. Le premier, RRT-Rope, produit un chemin égal ou plus court que les algorithmes existants en un temps de calcul jusqu’à 70% plus court que le deuxième meilleur algorithme dans un environnement représentatif. Une version modifiée de RRT-connect calcule un chemin réalisable, raccourci avec une technique déterministe qui tire profit des noeuds intermédiaires préalablement ajoutés. Le deuxième algorithme, TAPE, est la première méthode d’exploration de cavités en 3D qui minimise le temps de mission et la longueur du fil déroulé. En moyenne, le trajet global est 4% plus long que la méthode qui résout le TSP, mais le fil reste sous la longueur autorisée dans 100% des cas simulés, contre 53% avec la méthode initiale. L’approche utilise une architecture hiérarchique à 2 niveaux : la planification globale résout un TSP après extraction des frontières, et la planification locale minimise le coût du chemin et la longueur de fil via une fonction de décision. L’intégration de ces deux outils dans le NetherDrone produit un système intelligent pour l’exploration autonome, doté de fonctionnalités semi-autonomes pour une interaction avec l’opérateur. Les travaux réalisés ouvrent la porte à de nouvelles approches de navigation dans le domaine des missions d’inspection, de cartographie et de recherche et sauvetage

Feature relative navigation for automous underwater vehicles

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Ocean Engineering, 1997.Includes bibliographical references (leaves 184-196).by Andrew Arnold Bennett.Ph.D

Exploração autônoma utilizando SLAM monocular esparso

Nos últimos anos, observamos o alvorecer de uma grande quantidade de aplicações que utilizam robôs autônomos. Para que um robô seja considerado verdadeiramente autônomo, é primordial que ele possua a capacidade de aprender sobre o ambiente no qual opera. Métodos de SLAM (Localização e Mapeamento Simultâneos) constroem um mapa do ambiente por onde o robô trafega ao mesmo tempo em que estimam a trajetória correta do robô. No entanto, para obter um mapa completo do ambiente de forma autônoma é preciso guiar o robô por todo o ambiente, o que é feito no problema de exploração. Câmeras são sensores baratos que podem ser utilizadas para a construção de mapas 3D. Porém, o problema de exploração em mapas gerados por métodos de SLAM monocular, i.e. que extraem informações de uma única câmera, ainda é um problema em aberto, pois tais métodos geram mapas esparsos ou semi-densos, que são inadequados para navegação e exploração. Para tal situação, é necessário desenvolver métodos de exploração capazes de lidar com a limitação das câmeras e com a falta de informação nos mapas gerados por SLAMs monoculares. Propõe-se uma estratégia de exploração que utilize mapas volumétricos locais, gerados através das linhas de visão, permitindo que o robô navegue em segurança. Nestes mapas locais, são definidos objetivos que levem o robô a explorar o ambiente desviando de obstáculos. A abordagem proposta visa responder a questão fundamental em exploração: "Para onde ir?". Além disso, busca determinar corretamente quando o ambiente está suficientemente explorado e a exploração deve parar. A abordagem proposta é avaliada através de experimentos em um ambiente simples (i.e. apenas uma sala) e em um ambiente compostos por diversas salas.In recent years, we have seen the dawn of a large number of applications that use autonomous robots. For a robot to be considered truly autonomous, it is primordial that it has the ability to learn about the environment in which it operates. SLAM (Simultaneous Location and Mapping) methods build a map of the environment while estimating the robot’s correct trajectory. However, to autonomously obtain a complete map of the environment, it is necessary to guide the robot throughout the environment, which is done in the exploration problem. Cameras are inexpensive sensors that can be used for building 3D maps. However, the exploration problem in maps generated by monocular SLAM methods (i.e. that extract information from a single camera) is still an open problem, since such methods generate sparse or semi-dense maps that are ill-suitable for navigation and exploration. For such a situation, it is necessary to develop exploration methods capable of dealing with the limitation of the cameras and the lack of information in the maps generated by monocular SLAMs. We proposes an exploration strategy that uses local volumetric maps, generated using the lines of sight, allowing the robot to safely navigate. In these local maps, objectives are defined to lead the robot to explore the environment while avoiding obstacles. The proposed approach aims to answer the fundamental question in exploration: "Where to go?". In addition, it seeks to determine correctly when the environment is sufficiently explored and the exploration must stop. The effectiveness of the proposed approach is evaluated in experiments on single and multi-room environments

Ways and Capacity in Archaeological Data Management in Serbia

Over the past year and due to the COVID-19 pandemic, the entire world has witnessed inequalities across borders and societies. They also include access to archaeological resources, both physical and digital. Both archaeological data creators and users spent a lot of time working from their homes, away from artefact collections and research data. However, this was the perfect moment to understand the importance of making data freely and openly available, both nationally and internationally. This is why the authors of this paper chose to make a selection of data bases from various institutions responsible for preservation and protection of cultural heritage, in order to understand their policies regarding accessibility and usage of the data they keep. This will be done by simple visits to various web-sites or data bases. They intend to check on the volume and content, but also importance of the offered archaeological heritage. In addition, the authors will estimate whether the heritage has adequately been classified and described and also check whether data is available in foreign languages. It needs to be seen whether it is possible to access digital objects (documents and the accompanying metadata), whether access is opened for all users or it requires a certain hierarchy access, what is the policy of usage, reusage and distribution etc. It remains to be seen whether there are public API or whether it is possible to collect data through API. In case that there is a public API, one needs to check whether datasets are interoperable or messy, requiring data cleaning. After having visited a certain number of web-sites, the authors expect to collect enough data to make a satisfactory conclusion about accessibility and usage of Serbian archaeological data web bases