29 research outputs found
Collective Construction of 2D Block Structures with Holes
In this paper we present algorithms for collective construction systems in
which a large number of autonomous mobile robots trans- port modular building
elements to construct a desired structure. We focus on building block
structures subject to some physical constraints that restrict the order in
which the blocks may be attached to the structure. Specifically, we determine a
partial ordering on the blocks such that if they are attached in accordance
with this ordering, then (i) the structure is a single, connected piece at all
intermediate stages of construction, and (ii) no block is attached between two
other previously attached blocks, since such a space is too narrow for a robot
to maneuver a block into it. Previous work has consider this problem for
building 2D structures without holes. Here we extend this work to 2D structures
with holes. We accomplish this by modeling the problem as a graph orientation
problem and describe an O(n^2) algorithm for solving it. We also describe how
this partial ordering may be used in a distributed fashion by the robots to
coordinate their actions during the building process.Comment: 13 pages, 3 figure
Control Architecture for Cooperative Mobile Robots using Multi-Agent based Coordination Approach
National audienceThis paper is about a Multi-Agent based solution to control and coordinate team-working mobile robots moving in unstructured environments. Two main contributions are considered in our approach. The rst contribution of this paper is about the Multi-Agents System to Control and Coordinate teAmworking Robots (MAS2CAR) architecture, a new architecture to control a group of coordinated autonomous robots in unstructured environments. MAS2CAR covers three main layers: (i) the Physical Layer (ii) the Control Layer and (iii) the Coordination Layer. The second contribution of this paper is about the multi-agent system (MAS) organisational models aiming to solve the key cooperation issues in the coordination layer, the software components designed based on Utopia a MAS framework which automatically build software agents, thanks to a multi-agent based organisational model called MoiseInst . We provide simulation results that exhibit robotics cooperative behavior related to our scenario, such as multi-robots navigation in presence of obstacles (including trajectory planning, and reactive aspects) via a hybrid control
Applying autonomy to distributed satellite systems: Trends, challenges, and future prospects
While monolithic satellite missions still pose significant advantages in terms of accuracy and
operations, novel distributed architectures are promising improved flexibility, responsiveness,
and adaptability to structural and functional changes. Large satellite swarms, opportunistic satellite
networks or heterogeneous constellations hybridizing small-spacecraft nodes with highperformance
satellites are becoming feasible and advantageous alternatives requiring the adoption
of new operation paradigms that enhance their autonomy. While autonomy is a notion that
is gaining acceptance in monolithic satellite missions, it can also be deemed an integral characteristic
in Distributed Satellite Systems (DSS). In this context, this paper focuses on the motivations
for system-level autonomy in DSS and justifies its need as an enabler of system qualities. Autonomy
is also presented as a necessary feature to bring new distributed Earth observation functions
(which require coordination and collaboration mechanisms) and to allow for novel structural
functions (e.g., opportunistic coalitions, exchange of resources, or in-orbit data services). Mission
Planning and Scheduling (MPS) frameworks are then presented as a key component to implement
autonomous operations in satellite missions. An exhaustive knowledge classification explores the
design aspects of MPS for DSS, and conceptually groups them into: components and organizational
paradigms; problem modeling and representation; optimization techniques and metaheuristics;
execution and runtime characteristics and the notions of tasks, resources, and constraints.
This paper concludes by proposing future strands of work devoted to study the trade-offs of
autonomy in large-scale, highly dynamic and heterogeneous networks through frameworks that
consider some of the limitations of small spacecraft technologies.Postprint (author's final draft
Algorithms in nature: the convergence of systems biology and computational thinking
Biologists rely on computational methods to analyze and integrate large data sets, while several computational methods were inspired by the high-level design principles of biological systems. This Perspectives discusses the recent convergence of these two ways of thinking
Autonomous construction agents: An investigative framework for large sensor network self-management
Recent technological advances have made it cost effective to utilize massive, heterogeneous sensor networks. To gain appreciable value from these informational systems, there must be a control scheme that coordinates information flow to produce meaningful results. This paper will focus on tools developed to manage the coordination of autonomous construction agents using stigmergy, in which a set of basic low-level rules are implemented through various environmental cues. Using VE-Suite, an open-source virtual engineering software package, an interactive environment is created to explore various informational configurations for the construction problem. A simple test case is developed within the framework, and construction times are analyzed for possible functional relationships pertaining to performance of a particular set of parameters and a given control process. Initial experiments for the test case show sensor saturation occurs relatively quickly with 5-7 sensors, and construction time is generally independent of sensor range except for small numbers of sensors. Further experiments using this framework are needed to define other aspects of sensor performance. These trends can then be used to help decide what kinds of sensing capabilities are required to simultaneously achieve the most cost-effective solution and provide the required value of information when applied to the development of real world sensor applications
Genetic stigmergy: Framework and applications
Stigmergy has long been studied and recognized as an effective system for self-organization among social insects. Through the use of chemical agents known as pheromones, insect colonies are capable of complex collective behavior often beyond the scope of an individual agent. In an effort to develop human-made systems with the same robustness, scientists have created artificial analogues of pheromone-based stigmergy, but these systems often suffer from scalability and complexity issues due to the problems associated with mimicking the physics of pheromone diffusion. In this thesis, an alternative stigmergic framework called \u27Genetic Stigmergy\u27 is introduced. Using this framework, agents can indirectly share entire behavioral algorithms instead of pheromone traces that are limited in information content. The genetic constructs used in this framework allow for new avenues of research, including real-time evolution and adaptation of agents to complex environments. As a nascent test of its potential, experiments are performed using genetic stigmergy as an indirect communication framework for a simulated swarm of robots tasked with mapping an unknown environment. The robots are able to share their behavioral genes through environmentally distributed Radio-Frequency Identification cards. It was found that robots using a schema encouraging them to adopt lesser used behavioral genes (corresponding with novelty in exploration strategies) can generally cover more of an environment than agents who randomly switch their genes, but only if the environmental complexity is not too high. While the performance improvement is not statistically significant enough to clearly establish genetic stigmergy as a superior alternative to pheromonal-based artificial stigmergy, it is enough to warrant further research to develop its potential
Are Autonomous Mobile Robots Able to Take Over Construction? A Review
Although construction has been known as a highly complex application field for autonomous robotic systems, recent advances in this field offer great hope for using robotic capabilities to develop automated construction. Today, space research agencies seek to build infrastructures without human intervention, and construction companies look to robots with the potential to improve construction quality, efficiency, and safety, not to mention flexibility in architectural design. However, unlike production robots used, for instance, in automotive industries, autonomous robots should be designed with special consideration for challenges such as the complexity of the cluttered and dynamic working space, human-robot interactions and inaccuracy in positioning due to the nature of mobile systems and the lack of affordable and precise self-positioning solutions. This paper briefly reviews state-ofthe-art research into automated construction by autonomous mobile robots. We address and classify the relevant studies in terms of applications, materials, and robotic systems. We also identify ongoing challenges and discuss about future robotic requirements for automated construction
Багатоагентна система дослідження простору на основі технології інтернету речей
Результатом виконання проекту є розроблена багатоагентна система. Було досліджено та спроектовано комплексне рішення для дослідження простору та змодельовано роботу авторобота.The Bachelor project contains the development and description of a multi-agent system. In this project a multi-agent system, its hardware component and principles of interaction between agents were investigated and designed.Результатом выполнения проекта является разработанная многоагентная система. Было исследовано и спроектировано комплексное решение для исследования пространства и смоделирована работа авторобота