A Hybrid Multi-Robot Control Architecture

Multi-robot systems provide system redundancy and enhanced capability versus single robot systems. Implementations of these systems are varied, each with specific design approaches geared towards an application domain. Some traditional single robot control architectures have been expanded for multi-robot systems, but these expansions predominantly focus on the addition of communication capabilities. Both design approaches are application specific and limit the generalizability of the system. This work presents a redesign of a common single robot architecture in order to provide a more sophisticated multi-robot system. The single robot architecture chosen for application is the Three Layer Architecture (TLA). The primary strength of TLA is in the ability to perform both reactive and deliberative decision making, enabling the robot to be both sophisticated and perform well in stochastic environments. The redesign of this architecture includes incorporation of the Unified Behavior Framework (UBF) into the controller layer and an addition of a sequencer-like layer (called a Coordinator) to accommodate the multi-robot system. These combine to provide a robust, independent, and taskable individual architecture along with improved cooperation and collaboration capabilities, in turn reducing communication overhead versus many traditional approaches. This multi-robot systems architecture is demonstrated on the RoboCup Soccer Simulator showing its ability to perform well in a dynamic environment where communication constraints are high

Imitating Human Responses via a Dual-Process Model Approach

Human-autonomous system teaming is becoming more prevalent in the Air Force and in society. Often, the concept of a shared mental model is discussed as a means to enhance collaborative work arrangements between a human and an autonomous system. The idea being that when the models are aligned, the team is more productive due to an increase in trust, predictability, and apparent understanding. This research presents the Dual-Process Model using multivariate normal probability density functions (DPM-MN), which is a cognitive architecture algorithm based on the psychological dual-process theory. The dual-process theory proposes a bipartite decision-making process in people. It labels the intuitive mode as “System 1” and the reflective mode as “System 2”. The current research suggests by leveraging an agent which forms decisions based on a dual-process model, an agent in a human-machine team can maintain a better shared mental model with the user. Evaluation of DPM-MN in a game called Space Navigator shows that DPM-MN presents a successful dual-process theory motivated model

Orchestrating the Dynamic Adaptation of Distributed Software with Process Technology

Software systems are becoming increasingly complex to develop, understand, analyze, validate, deploy, configure, manage and maintain. Much of that complexity is related to ensuring adequate quality levels to services provided by software systems after they are deployed in the field, in particular when those systems are built from and operated as a mix of proprietary and non-proprietary components. That translates to increasing costs and difficulties when trying to operate large-scale distributed software ensembles in a way that continuously guarantees satisfactory levels of service. A solution can be to exert some form of dynamic adaptation upon running software systems: dynamic adaptation can be defined as a set of automated and coordinated actions that aim at modifying the structure, behavior and performance of a target software system, at run time and without service interruption, typically in response to the occurrence of some condition(s). To achieve dynamic adaptation upon a given target software system, a set of capabilities, including monitoring, diagnostics, decision, actuation and coordination, must be put in place. This research addresses the automation of decision and coordination in the context of an end-to-end and externalized approach to dynamic adaptation, which allows to address as its targets legacy and component-based systems, as well as new systems developed from scratch. In this approach, adaptation provisions are superimposed by a separate software platform, which operates from the outside of and orthogonally to the target application as a whole; furthermore, a single adaptation possibly spans concerted interventions on a multiplicity of target components. To properly orchestrate those interventions, decentralized process technology is employed for describing, activating and coordinating the work of a cohort of software actuators, towards the intended end-to-end dynamic adaptation. The approach outlined above, has been implemented in a prototype, code-named Workflakes, within the Kinesthetics eXtreme project investigating externalized dynamic adaptation, carried out by the Programming Systems Laboratory of Columbia University, and has been employed in a set of diverse case studies. This dissertation discusses and evaluates the concept of process-based orchestration of dynamic adaptation and the Workflakes prototype on the basis of the results of those case studies

Navigation behavior design and representations for a people aware mobile robot system

There are millions of robots in operation around the world today, and almost all of them operate on factory floors in isolation from people. However, it is now becoming clear that robots can provide much more value assisting people in daily tasks in human environments. Perhaps the most fundamental capability for a mobile robot is navigating from one location to another. Advances in mapping and motion planning research in the past decades made indoor navigation a commodity for mobile robots. Yet, questions remain on how the robots should move around humans. This thesis advocates the use of semantic maps and spatial rules of engagement to enable non-expert users to effortlessly interact with and control a mobile robot. A core concept explored in this thesis is the Tour Scenario, where the task is to familiarize a mobile robot to a new environment after it is first shipped and unpacked in a home or office setting. During the tour, the robot follows the user and creates a semantic representation of the environment. The user labels objects, landmarks and locations by performing pointing gestures and using the robot's user interface. The spatial semantic information is meaningful to humans, as it allows providing commands to the robot such as ``bring me a cup from the kitchen table". While the robot is navigating towards the goal, it should not treat nearby humans as obstacles and should move in a socially acceptable manner. Three main navigation behaviors are studied in this work. The first behavior is the point-to-point navigation. The navigation planner presented in this thesis borrows ideas from human-human spatial interactions, and takes into account personal spaces as well as reactions of people who are in close proximity to the trajectory of the robot. The second navigation behavior is person following. After the description of a basic following behavior, a user study on person following for telepresence robots is presented. Additionally, situation awareness for person following is demonstrated, where the robot facilitates tasks by predicting the intent of the user and utilizing the semantic map. The third behavior is person guidance. A tour-guide robot is presented with a particular application for visually impaired users.Ph.D