Unified Behavior Framework for Reactive Robot Control in Real-Time Systems

Endeavors in mobile robotics focus on developing autonomous vehicles that operate in dynamic and uncertain environments. By reducing the need for human-in- the-loop control, unmanned vehicles are utilized to achieve tasks considered dull or dangerous by humans. Because unexpected latency can adversely affect the quality of an autonomous system\u27s operations, which in turn can affect lives and property in the real-world, their ability to detect and handle external events is paramount to providing safe and dependable operation. Behavior-based systems form the basis of autonomous control for many robots. This thesis presents the unified behavior framework, a new and novel approach which incorporates the critical ideas and concepts of the existing reactive controllers in an effort to simplify development without locking the system developer into using any single behavior system. The modular design of the framework is based on modern software engineering principles and only specifies a functional interface for components, leaving the implementation details to the developers. In addition to its use of industry standard techniques in the design of reactive controllers, the unified behavior framework guarantees the responsiveness of routines that are critical to the vehicle\u27s safe operation by allowing individual behaviors to be scheduled by a real-time process controller. The experiments in this thesis demonstrate the ability of the framework to: 1) interchange behavioral components during execution to generate various global behavior attributes; 2) apply genetic programming techniques to automate the discovery of effective structures for a domain that are up to 122 percent better than those crafted by an expert; and 3) leverage real-time scheduling technologies to guarantee the responsiveness of time critical routines regardless of the system\u27s computational load

Enabling Communication Technologies for Automated Unmanned Vehicles in Industry 4.0

Within the context of Industry 4.0, mobile robot systems such as automated guided vehicles (AGVs) and unmanned aerial vehicles (UAVs) are one of the major areas challenging current communication and localization technologies. Due to stringent requirements on latency and reliability, several of the existing solutions are not capable of meeting the performance required by industrial automation applications. Additionally, the disparity in types and applications of unmanned vehicle (UV) calls for more flexible communication technologies in order to address their specific requirements. In this paper, we propose several use cases for UVs within the context of Industry 4.0 and consider their respective requirements. We also identify wireless technologies that support the deployment of UVs as envisioned in Industry 4.0 scenarios.Comment: 7 pages, 1 figure, 1 tabl

Safe, Remote-Access Swarm Robotics Research on the Robotarium

This paper describes the development of the Robotarium -- a remotely accessible, multi-robot research facility. The impetus behind the Robotarium is that multi-robot testbeds constitute an integral and essential part of the multi-agent research cycle, yet they are expensive, complex, and time-consuming to develop, operate, and maintain. These resource constraints, in turn, limit access for large groups of researchers and students, which is what the Robotarium is remedying by providing users with remote access to a state-of-the-art multi-robot test facility. This paper details the design and operation of the Robotarium as well as connects these to the particular considerations one must take when making complex hardware remotely accessible. In particular, safety must be built in already at the design phase without overly constraining which coordinated control programs the users can upload and execute, which calls for minimally invasive safety routines with provable performance guarantees.Comment: 13 pages, 7 figures, 3 code samples, 72 reference

Internet of robotic things : converging sensing/actuating, hypoconnectivity, artificial intelligence and IoT Platforms

The Internet of Things (IoT) concept is evolving rapidly and influencing newdevelopments in various application domains, such as the Internet of MobileThings (IoMT), Autonomous Internet of Things (A-IoT), Autonomous Systemof Things (ASoT), Internet of Autonomous Things (IoAT), Internetof Things Clouds (IoT-C) and the Internet of Robotic Things (IoRT) etc.that are progressing/advancing by using IoT technology. The IoT influencerepresents new development and deployment challenges in different areassuch as seamless platform integration, context based cognitive network integration,new mobile sensor/actuator network paradigms, things identification(addressing, naming in IoT) and dynamic things discoverability and manyothers. The IoRT represents new convergence challenges and their need to be addressed, in one side the programmability and the communication ofmultiple heterogeneous mobile/autonomous/robotic things for cooperating,their coordination, configuration, exchange of information, security, safetyand protection. Developments in IoT heterogeneous parallel processing/communication and dynamic systems based on parallelism and concurrencyrequire new ideas for integrating the intelligent “devices”, collaborativerobots (COBOTS), into IoT applications. Dynamic maintainability, selfhealing,self-repair of resources, changing resource state, (re-) configurationand context based IoT systems for service implementation and integrationwith IoT network service composition are of paramount importance whennew “cognitive devices” are becoming active participants in IoT applications.This chapter aims to be an overview of the IoRT concept, technologies,architectures and applications and to provide a comprehensive coverage offuture challenges, developments and applications

Technology assessment of advanced automation for space missions

Six general classes of technology requirements derived during the mission definition phase of the study were identified as having maximum importance and urgency, including autonomous world model based information systems, learning and hypothesis formation, natural language and other man-machine communication, space manufacturing, teleoperators and robot systems, and computer science and technology

Towards Informed Exploration for Deep Reinforcement Learning

In this thesis, we discuss various techniques for improving exploration for deep reinforcement learning. We begin with a brief review of reinforcement learning (RL) and the fundamental v.s. exploitation trade-off. Then we review how deep RL has improved upon classical and summarize six categories of the latest exploration methods for deep RL, in the order increasing usage of prior information. We then explore representative works in three categories discuss their strengths and weaknesses. The first category, represented by Soft Q-learning, uses regularization to encourage exploration. The second category, represented by count-based via hashing, maps states to hash codes for counting and assigns higher exploration to less-encountered states. The third category utilizes hierarchy and is represented by modular architecture for RL agents to play StarCraft II. Finally, we conclude that exploration by prior knowledge is a promising research direction and suggest topics of potentially impact

GUARDIANS final report

Emergencies in industrial warehouses are a major concern for firefghters. The large dimensions together with the development of dense smoke that drastically reduces visibility, represent major challenges. The Guardians robot swarm is designed to assist fire fighters in searching a large warehouse. In this report we discuss the technology developed for a swarm of robots searching and assisting fire fighters. We explain the swarming algorithms which provide the functionality by which the robots react to and follow humans while no communication is required. Next we discuss the wireless communication system, which is a so-called mobile ad-hoc network. The communication network provides also one of the means to locate the robots and humans. Thus the robot swarm is able to locate itself and provide guidance information to the humans. Together with the re ghters we explored how the robot swarm should feed information back to the human fire fighter. We have designed and experimented with interfaces for presenting swarm based information to human beings