125 research outputs found
Collaborative autonomy in heterogeneous multi-robot systems
As autonomous mobile robots become increasingly connected and widely deployed in different domains, managing multiple robots and their interaction is key to the future of ubiquitous autonomous systems. Indeed, robots are not individual entities anymore. Instead, many robots today are deployed as part of larger fleets or in teams. The benefits of multirobot collaboration, specially in heterogeneous groups, are multiple. Significantly higher degrees of situational awareness and understanding of their environment can be achieved when robots with different operational capabilities are deployed together. Examples of this include the Perseverance rover and the Ingenuity helicopter that NASA has deployed in Mars, or the highly heterogeneous robot teams that explored caves and other complex environments during the last DARPA Sub-T competition.
This thesis delves into the wide topic of collaborative autonomy in multi-robot systems, encompassing some of the key elements required for achieving robust collaboration: solving collaborative decision-making problems; securing their operation, management and interaction; providing means for autonomous coordination in space and accurate global or relative state estimation; and achieving collaborative situational awareness through distributed perception and cooperative planning. The thesis covers novel formation control algorithms, and new ways to achieve accurate absolute or relative localization within multi-robot systems. It also explores the potential of distributed ledger technologies as an underlying framework to achieve collaborative decision-making in distributed robotic systems.
Throughout the thesis, I introduce novel approaches to utilizing cryptographic elements and blockchain technology for securing the operation of autonomous robots, showing that sensor data and mission instructions can be validated in an end-to-end manner. I then shift the focus to localization and coordination, studying ultra-wideband (UWB) radios and their potential. I show how UWB-based ranging and localization can enable aerial robots to operate in GNSS-denied environments, with a study of the constraints and limitations. I also study the potential of UWB-based relative localization between aerial and ground robots for more accurate positioning in areas where GNSS signals degrade. In terms of coordination, I introduce two new algorithms for formation control that require zero to minimal communication, if enough degree of awareness of neighbor robots is available. These algorithms are validated in simulation and real-world experiments. The thesis concludes with the integration of a new approach to cooperative path planning algorithms and UWB-based relative localization for dense scene reconstruction using lidar and vision sensors in ground and aerial robots
Air Force Institute of Technology Research Report 2019
This Research Report presents the FY19 research statistics and contributions of the Graduate School of Engineering and Management (EN) at AFIT. AFIT research interests and faculty expertise cover a broad spectrum of technical areas related to USAF needs, as reflected by the range of topics addressed in the faculty and student publications listed in this report. In most cases, the research work reported herein is directly sponsored by one or more USAF or DOD agencies. AFIT welcomes the opportunity to conduct research on additional topics of interest to the USAF, DOD, and other federal organizations when adequate manpower and financial resources are available and/or provided by a sponsor. In addition, AFIT provides research collaboration and technology transfer benefits to the public through Cooperative Research and Development Agreements (CRADAs). Interested individuals may discuss ideas for new research collaborations, potential CRADAs, or research proposals with individual faculty using the contact information in this document
Air Force Institute of Technology Research Report 2020
This Research Report presents the FY20 research statistics and contributions of the Graduate School of Engineering and Management (EN) at AFIT. AFIT research interests and faculty expertise cover a broad spectrum of technical areas related to USAF needs, as reflected by the range of topics addressed in the faculty and student publications listed in this report. In most cases, the research work reported herein is directly sponsored by one or more USAF or DOD agencies. AFIT welcomes the opportunity to conduct research on additional topics of interest to the USAF, DOD, and other federal organizations when adequate manpower and financial resources are available and/or provided by a sponsor. In addition, AFIT provides research collaboration and technology transfer benefits to the public through Cooperative Research and Development Agreements (CRADAs). Interested individuals may discuss ideas for new research collaborations, potential CRADAs, or research proposals with individual faculty using the contact information in this document
Annual Report of the University, 2001-2002, Volumes 1-4
VITAL ACADEMIC CLIMATE* by Brian Foster, Provost/Vice President of Academic Affairs A great university engages students and faculty fully in important ideas and issues ... not just to learn about them, but to take them apart and put them back together, to debate, deconstruct, resist, reconstruct and build upon them. Engagement of this sort takes concentration and commitment, and it produces the kind of discipline and passion that leads to student and faculty success and satisfaction in their studies, research, performance, artistic activity and service. It is also the kind of activity that creates a solid, nurturing spirit of community. This is what we mean when we talk about a vital academic climate. We are striving for an environment that will enrich the social, cultural and intellectual lives of all who come in contact with the University. Many things interconnect to make this happen: curriculum, co-curricular activities, conferences, symposia, cultural events, community service, research and social activity. Our goal is to create the highest possible level of academic commitment and excitement at UNM. This is what characterizes a truly great university. *Strategic Direction 2 New Mexico native Andres C. Salazar, a Ph.D. in electrical engineering from Michigan State University, has been named the PNM Chair in Microsystems, Commercialization and Technology. Carrying the title of professor, the PNM Chair is a joint appointment between the School of Engineering and the Anderson Schools of Management. Spring 2002 graduate John Probasco was selected a 2002 Rhodes Scholar, the second UNM student to be so honored in the past four years. The biochemistry major from Alamogordo previously had been awarded the Goldwater Scholarship and the Truman Scholarship. Andres c. Salazar Biology student Sophie Peterson of Albuquerque was one of 30 students nationwide to receive a 2002-2003 Award of Excellence from Phi Kappa Phi, the oldest and largest national honor society. Regents\\u27 Professor of Communication and Journalism Everett M. Rogers was selected the University\\u27s 4 71h Annual Research Lecturer, the highest honor UNM bestows upon members of its faculty. John Probasco honored by Student Activities Director Debbie Morris. New Mexico resident, author and poet Simon}. Ortiz received an Honorary Doctorate of Letters at Spring Commencement ceremonies. Child advocate Angela Angie Vachio, founder and executive director of Peanut Butter and Jelly Family Services, Inc., was awarded an Honorary Doctorate of Humane Letters. American Studies Assistant Professor Amanda}. Cobb won the 22 d annual American Book Award for listening to Our Grandmothers\\u27 Stories: The Bloomfield Academy for Chickasaw Females, 1852-1949
Multi-Agent Systems
A multi-agent system (MAS) is a system composed of multiple interacting intelligent agents. Multi-agent systems can be used to solve problems which are difficult or impossible for an individual agent or monolithic system to solve. Agent systems are open and extensible systems that allow for the deployment of autonomous and proactive software components. Multi-agent systems have been brought up and used in several application domains
Mining Technologies Innovative Development
The present book covers the main challenges, important for future prospects of subsoils extraction as a public effective and profitable business, as well as technologically advanced industry. In the near future, the mining industry must overcome the problems of structural changes in raw materials demand and raise the productivity up to the level of high-tech industries to maintain the profits. This means the formation of a comprehensive and integral response to such challenges as the need for innovative modernization of mining equipment and an increase in its reliability, the widespread introduction of Industry 4.0 technologies in the activities of mining enterprises, the transition to "green mining" and the improvement of labor safety and avoidance of man-made accidents. The answer to these challenges is impossible without involving a wide range of scientific community in the publication of research results and exchange of views and ideas. To solve the problem, this book combines the works of researchers from the world's leading centers of mining science on the development of mining machines and mechanical systems, surface and underground geotechnology, mineral processing, digital systems in mining, mine ventilation and labor protection, and geo-ecology. A special place among them is given to post-mining technologies research
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