Decentralised Monte Carlo Tree Search for Active Perception

We propose a decentralised variant of Monte Carlo tree search (MCTS) that is suitable for a variety of tasks in multi-robot active perception. Our algorithm allows each robot to optimise its own individual action space by maintaining a probability distribution over plans in the joint-action space. Robots periodically communicate a compressed form of these search trees, which are used to update the locally-stored joint distributions using an optimisation approach inspired by variational methods. Our method admits any objective function defined over robot actions, assumes intermittent communication, and is anytime. We extend the analysis of the standard MCTS for our algorithm and characterise asymptotic convergence under reasonable assumptions. We evaluate the practical performance of our method for generalised team orienteering and active object recognition using real data, and show that it compares favourably to centralised MCTS even with severely degraded communication. These examples support the relevance of our algorithm for real-world active perception with multi-robot systems

Information-theoretic Reasoning in Distributed and Autonomous Systems

The increasing prevalence of distributed and autonomous systems is transforming decision making in industries as diverse as agriculture, environmental monitoring, and healthcare. Despite significant efforts, challenges remain in robustly planning under uncertainty. In this thesis, we present a number of information-theoretic decision rules for improving the analysis and control of complex adaptive systems. We begin with the problem of quantifying the data storage (memory) and transfer (communication) within information processing systems. We develop an information-theoretic framework to study nonlinear interactions within cooperative and adversarial scenarios, solely from observations of each agent's dynamics. This framework is applied to simulations of robotic soccer games, where the measures reveal insights into team performance, including correlations of the information dynamics to the scoreline. We then study the communication between processes with latent nonlinear dynamics that are observed only through a filter. By using methods from differential topology, we show that the information-theoretic measures commonly used to infer communication in observed systems can also be used in certain partially observed systems. For robotic environmental monitoring, the quality of data depends on the placement of sensors. These locations can be improved by either better estimating the quality of future viewpoints or by a team of robots operating concurrently. By robustly handling the uncertainty of sensor model measurements, we are able to present the first end-to-end robotic system for autonomously tracking small dynamic animals, with a performance comparable to human trackers. We then solve the issue of coordinating multi-robot systems through distributed optimisation techniques. These allow us to develop non-myopic robot trajectories for these tasks and, importantly, show that these algorithms provide guarantees for convergence rates to the optimal payoff sequence

Realizable Path Planning and Execution for Robotic Systems

Performing autonomous robotic tasks in the field, such as ocean monitoring and aerial surveillance, requires planning and executing paths in dynamic environments. In these uncertain and changing environments, it is not uncommon to see a large difference between the path planned by the robotic vehicle and the path that the robotic vehicle realizes while executing that path. This difference can decrease the performance of the robotic system by introducing additional risk or forcing the vehicle to miss important survey areas. Existing systems do not consider large-scale disturbances, do not consider the differences between the planning and control models, and do not incorporate new information about disturbances found online during planning and execution. To address these shortcomings, this thesis provides algorithms that incorporate disturbances directly into planning, reason about the robot's low-level controller, and utilize information gathered during execution about both disturbances and the robot's dynamics. The impact of these improvements is a reduction in risk and improvement of the quality of robotic information collection. This thesis provides three contributions to help reduce this difference between planned and executed trajectories. First, we introduce a stochastic optimization framework which utilizes an action-space path representation to remove the need for expensive reachability calculations. This action-space formulation allows for a more natural representation of the effects of disturbances on vehicles with low actuation, and the stochastic optimization technique allows the mapping of a state-space based reward function to the action-space while being efficient enough to be used in a sequential allocation framework for planning for multiple vehicles. We demonstrate the computational efficiency of this algorithm against other state-of-the-art planners in a simulated ocean environment of the Gulf of Mexico. Second, we present a novel algorithm, Energy-Efficient Stochastic Trajectory Optimization (EESTO), which allows vehicles with moderate levels of actuation to plan energy-efficient trajectories thorough strong and uncertain disturbances. In addition to this algorithm, we introduce a framework which can utilize the efficiency of EESTO to account for information gathered online about the disturbances that the vehicle is moving through. We demonstrate the capabilities of the algorithm and framework in both a simulated ocean environment off the coast of California near the Channel Island as well as on hardware on a lake near Eugene, Oregon. Lastly, we present a framework for increasing the realizability of planned paths for high-actuation vehicles, which allows the robotic system to reason about the capabilities of the on-board low-level controller. By incorporating the capabilities of the low-level controller into execution and planning, this framework is able to increase the realizability of the planned information gathering path. We demonstrate the capabilities of this framework through extensive simulation trials and on hardware on a lake near Corvallis, Oregon

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

New Trends in Statistical Physics of Complex Systems

A topical research activity in statistical physics concerns the study of complex and disordered systems. Generally, these systems are characterized by an elevated level of interconnection and interaction between the parts so that they give rise to a rich structure in the phase space that self-organizes under the control of internal non-linear dynamics. These emergent collective dynamics confer new behaviours to the whole system that are no longer the direct consequence of the properties of the single parts, but rather characterize the whole system as a new entity with its own features, giving rise to the birth of new phenomenologies. As is highlighted in this collection of papers, the methodologies of statistical physics have become very promising in understanding these new phenomena. This volume groups together 12 research works showing the use of typical tools developed within the framework of statistical mechanics, in non-linear kinetic and information geometry, to investigate emerging features in complex physical and physical-like systems. A topical research activity in statistical physics concerns the study of complex and disordered systems. Generally, these systems are characterized by an elevated level of interconnection and interaction between the parts so that they give rise to a rich structure in the phase space that self-organizes under the control of internal non-linear dynamics. These emergent collective dynamics confer new behaviours to the whole system that are no longer the direct consequence of the properties of the single parts, but rather characterize the whole system as a new entity with its own features, giving rise to the birth of new phenomenologies. As is highlighted in this collection of papers, the methodologies of statistical physics have become very promising in understanding these new phenomena. This volume groups together 12 research works showing the use of typical tools developed within the framework of statistical mechanics, in non-linear kinetic and information geometry, to investigate emerging features in complex physical and physical-like systems

Simultaneous Prediction and Planning in Crowds using Learnt Models of Social Response

The ability of autonomous mobile robots to work alongside humans and animals in real world environments has the potential to revolutionise the way in which many routine and labour intensive tasks are completed. Whilst we are seeing increasing applications in controlled environments, such as traffic and warehousing, robots are still far from ubiquitous in everyday life. In unstructured environments, such as agriculture or pedestrian crowds, where interactions between agents are not guided by infrastructure, there exist additional challenges that need to be overcome before we are likely to see the widespread adoption of mobile robots. Safe navigation in shared environments requires the accurate perception of nearby individuals using a robot's on board sensors. Additionally, the future motion of detected individuals needs to be predicted both for collision avoidance and efficient navigation. These predictions should reflect the inherent uncertainty of the individual's future, including the ways in which an individual might respond to its neighbours, including the robot itself. As such, there exists a dependency between any prediction of an individual's motion and the planned path of the robot, which needs to be accounted for both during the prediction and planning stages of navigation. This thesis focuses on how prediction and planning can be approached in a single framework to address this dependency, using learnt models of social response within a sampling based path planner for simultaneous prediction and planning (SPP). Additional challenges faced in navigating shared and unstructured environments are also addressed, including predicting the uncertain branching and multi-modal nature of agent motion during social interactions, and overcoming the on-board limitations of mobile robots --- such as resource and sensing constraints --- in order to achieve extended autonomy