32 research outputs found
Abstracting Multidimensional Concepts for Multilevel Decision Making in Multirobot Systems
Get PDFMultirobot control architectures often require robotic tasks to be well defined before allocation. In complex missions, it is often difficult to decompose an objective into a set of well defined tasks; human operators generate a simplified representation based on experience and estimation. The result is a set of robot roles, which are not best suited to accomplishing those objectives. This thesis presents an alternative approach to generating multirobot control algorithms using task abstraction. By carefully analysing data recorded from similar systems a multidimensional and multilevel representation of the mission can be abstracted, which can be subsequently converted into a robotic controller.
This work, which focuses on the control of a team of robots to play the complex game of football, is divided into three sections: In the first section we investigate the use of spatial structures in team games. Experimental results show that cooperative teams beat groups of individuals when competing for space and that controlling space is important in the game of robot football. In the second section, we generate a multilevel representation of robot football based on spatial structures measured in recorded matches. By differentiating between spatial configurations appearing in desirable and undesirable situations, we can abstract a strategy composed of the more desirable structures. In the third section, five partial strategies are generated, based on the abstracted structures, and a suitable controller is devised. A set of experiments shows the success of the method in reproducing those key structures in a multirobot system. Finally, we compile our methods into a formal architecture for task abstraction and control.
The thesis concludes that generating multirobot control algorithms using task abstraction is appropriate for problems which are complex, weakly-defined, multilevel, dynamic, competitive, unpredictable, and which display emergent properties
Concepts for the Representation, Storage, and Retrieval of Spatio-Temporal Objects in 3D/4D Geo-Informations-Systems
Get PDFThe quickly increasing number of spatio-temporal applications in fields like environmental management or geology is a new challenge to the development of database systems. This thesis addresses three areas of the problem of integrating spatio-temporal objects into databases. First, a new representational model for continuously changing, spatial 3D objects is introduced and transferred into a small system of classes within an object-oriented database framework. The model extends simplicial cell complexes to the spatio-temporal setting. The problem of closure under certain operations is investigated. Second, internal data structures are introduced that represent instances of the (user-level) spatio-temporal classes. A new technique provides a compromise between compact storage and efficient retrieval of spatio-temporal objects. These structures correspond to temporal graphs and support updates as well as the maintainance of connected components over time. Third, it is shown how to realise further operations on the new type of objects. Among these operations are range queries, intersection tests, and the Euclidean distance function
Proceedings of the 8th Cologne-Twente Workshop on Graphs and Combinatorial Optimization
No full textInternational audienceThe Cologne-Twente Workshop (CTW) on Graphs and Combinatorial Optimization started off as a series of workshops organized bi-annually by either Köln University or Twente University. As its importance grew over time, it re-centered its geographical focus by including northern Italy (CTW04 in Menaggio, on the lake Como and CTW08 in Gargnano, on the Garda lake). This year, CTW (in its eighth edition) will be staged in France for the first time: more precisely in the heart of Paris, at the Conservatoire National d’Arts et Métiers (CNAM), between 2nd and 4th June 2009, by a mixed organizing committee with members from LIX, Ecole Polytechnique and CEDRIC, CNAM
