An approach for real-time motion planning of an inchworm robot in complex steel bridge environments

© Cambridge University Press 2016. Path planning can be difficult and time consuming for inchworm robots especially when operating in complex 3D environments such as steel bridges. Confined areas may prevent a robot from extensively searching the environment by limiting its mobility. An approach for real-time path planning is presented. This approach first uses the concept of line-of-sight (LoS) to find waypoints from the start pose to the end node. It then plans smooth, collision-free motion for a robot to move between waypoints using a 3D-F2 algorithm. Extensive simulations and experiments are conducted in 2D and 3D scenarios to verify the approach

Adaptive and learning-based formation control of swarm robots

Autonomous aerial and wheeled mobile robots play a major role in tasks such as search and rescue, transportation, monitoring, and inspection. However, these operations are faced with a few open challenges including robust autonomy, and adaptive coordination based on the environment and operating conditions, particularly in swarm robots with limited communication and perception capabilities. Furthermore, the computational complexity increases exponentially with the number of robots in the swarm. This thesis examines two different aspects of the formation control problem. On the one hand, we investigate how formation could be performed by swarm robots with limited communication and perception (e.g., Crazyflie nano quadrotor). On the other hand, we explore human-swarm interaction (HSI) and different shared-control mechanisms between human and swarm robots (e.g., BristleBot) for artistic creation. In particular, we combine bio-inspired (i.e., flocking, foraging) techniques with learning-based control strategies (using artificial neural networks) for adaptive control of multi- robots. We first review how learning-based control and networked dynamical systems can be used to assign distributed and decentralized policies to individual robots such that the desired formation emerges from their collective behavior. We proceed by presenting a novel flocking control for UAV swarm using deep reinforcement learning. We formulate the flocking formation problem as a partially observable Markov decision process (POMDP), and consider a leader-follower configuration, where consensus among all UAVs is used to train a shared control policy, and each UAV performs actions based on the local information it collects. In addition, to avoid collision among UAVs and guarantee flocking and navigation, a reward function is added with the global flocking maintenance, mutual reward, and a collision penalty. We adapt deep deterministic policy gradient (DDPG) with centralized training and decentralized execution to obtain the flocking control policy using actor-critic networks and a global state space matrix. In the context of swarm robotics in arts, we investigate how the formation paradigm can serve as an interaction modality for artists to aesthetically utilize swarms. In particular, we explore particle swarm optimization (PSO) and random walk to control the communication between a team of robots with swarming behavior for musical creation

Panic, irrationality, herding: Three ambiguous terms in crowd dynamics research

Background: The three terms “panic”, “irrationality” and “herding” are ubiquitous in the crowd dynamics literature and have a strong influence on both modelling and management practices. The terms are also commonly shared between the scientific and non-scientific domains. The pervasiveness of the use of these terms is to the point where their underlying assumptions have often been treated as common knowledge by both experts and lay persons. Yet, at the same time, the literature on crowd dynamics presents ample debate, contradiction and inconsistency on these topics. Method: This review is the first to systematically revisit these three terms in a unified study to highlight the scope of this debate. We extracted from peer-reviewed journal articles direct quotes that offer a definition, conceptualisation or supporting/contradicting evidence on these terms and/or their underlying theories. To further examine the suitability of the term herding, a secondary and more detailed analysis is also conducted on studies that have specifically investigated this phenomenon in empirical settings. Results. The review shows that (i) there is no consensus on the definition for the terms panic and irrationality; and that (ii) the literature is highly divided along discipline lines on how accurate these theories/terminologies are for describing human escape behaviour. The review reveals a complete division and disconnection between studies published by social scientists and those from the physical science domain; also, between studies whose main focus is on numerical simulation versus those with empirical focus. (iii) Despite the ambiguity of the definitions and the missing consensus in the literature, these terms are still increasingly and persistently mentioned in crowd evacuation studies. (iv) Different to panic and irrationality, there is relative consistency in definitions of the term herding, with the term usually being associated with ‘(blind) imitation’. However, based on the findings of empirical studies, we argue why, despite the relative consistency in meaning, (v) the term herding itself lacks adequate nuance and accuracy for describing the role of ‘social influence’ in escape behaviour. Our conclusions also emphasise the importance of distinguishing between the social influence on various aspects of evacuation behaviour and avoiding generalisation across various behavioural layers. Conclusions. We argue that the use of these three terms in the scientific literature does not contribute constructively to extending the knowledge or to improving the modelling capabilities in the field of crowd dynamics. This is largely due to the ambiguity of these terms, the overly simplistic nature of their assumptions, or the fact that the theories they represent are not readily verifiable. Recommendations: We suggest that it would be beneficial for advancing this research field that the phenomena related to these three terms are clearly defined by more tangible and quantifiable terms and be formulated as verifiable hypotheses, so they can be operationalised for empirical testing

Journal of Telecommunications and Information Technology, 2019, nr 1

kwartalni

Networks, Communication, and Computing Vol. 2

Networks, communications, and computing have become ubiquitous and inseparable parts of everyday life. This book is based on a Special Issue of the Algorithms journal, and it is devoted to the exploration of the many-faceted relationship of networks, communications, and computing. The included papers explore the current state-of-the-art research in these areas, with a particular interest in the interactions among the fields

Bio-inspired computation for big data fusion, storage, processing, learning and visualization: state of the art and future directions

This overview gravitates on research achievements that have recently emerged from the confluence between Big Data technologies and bio-inspired computation. A manifold of reasons can be identified for the profitable synergy between these two paradigms, all rooted on the adaptability, intelligence and robustness that biologically inspired principles can provide to technologies aimed to manage, retrieve, fuse and process Big Data efficiently. We delve into this research field by first analyzing in depth the existing literature, with a focus on advances reported in the last few years. This prior literature analysis is complemented by an identification of the new trends and open challenges in Big Data that remain unsolved to date, and that can be effectively addressed by bio-inspired algorithms. As a second contribution, this work elaborates on how bio-inspired algorithms need to be adapted for their use in a Big Data context, in which data fusion becomes crucial as a previous step to allow processing and mining several and potentially heterogeneous data sources. This analysis allows exploring and comparing the scope and efficiency of existing approaches across different problems and domains, with the purpose of identifying new potential applications and research niches. Finally, this survey highlights open issues that remain unsolved to date in this research avenue, alongside a prescription of recommendations for future research.This work has received funding support from the Basque Government (Eusko Jaurlaritza) through the Consolidated Research Group MATHMODE (IT1294-19), EMAITEK and ELK ARTEK programs. D. Camacho also acknowledges support from the Spanish Ministry of Science and Education under PID2020-117263GB-100 grant (FightDIS), the Comunidad Autonoma de Madrid under S2018/TCS-4566 grant (CYNAMON), and the CHIST ERA 2017 BDSI PACMEL Project (PCI2019-103623, Spain)