50 research outputs found

    Towards full-scale autonomy for multi-vehicle systems planning and acting in extreme environments

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    Currently, robotic technology offers flexible platforms for addressing many challenging problems that arise in extreme environments. These problems’ nature enhances the use of heterogeneous multi-vehicle systems which can coordinate and collaborate to achieve a common set of goals. While such applications have previously been explored in limited contexts, long-term deployments in such settings often require an advanced level of autonomy to maintain operability. The success of planning and acting approaches for multi-robot systems are conditioned by including reasoning regarding temporal, resource and knowledge requirements, and world dynamics. Automated planning provides the tools to enable intelligent behaviours in robotic systems. However, whilst many planning approaches and plan execution techniques have been proposed, these solutions highlight an inability to consistently build and execute high-quality plans. Motivated by these challenges, this thesis presents developments advancing state-of-the-art temporal planning and acting to address multi-robot problems. We propose a set of advanced techniques, methods and tools to build a high-level temporal planning and execution system that can devise, execute and monitor plans suitable for long-term missions in extreme environments. We introduce a new task allocation strategy, called HRTA, that optimises the task distribution amongst the heterogeneous fleet, relaxes the planning problem and boosts the plan search. We implement the TraCE planner that enforces contingent planning considering propositional temporal and numeric constraints to deal with partial observability about the initial state. Our developments regarding robust plan execution and mission adaptability include the HLMA, which efficiently optimises the task allocation and refines the planning model considering the experience from robots’ previous mission executions. We introduce the SEA failure solver that, combined with online planning, overcomes unexpected situations during mission execution, deals with joint goals implementation, and enhances mission operability in long-term deployments. Finally, we demonstrate the efficiency of our approaches with a series of experiments using a new set of real-world planning domains.Engineering and Physical Sciences Research Council (EPSRC) grant EP/R026173/

    Specification-Based Task Orchestration for Multi-Robot Aerial Teams

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    As humans begin working more frequently in environments with multi-agent systems, they are presented with challenges on how to control these systems in an intuitive manner. Current approaches tend to limit either the interaction ability of the user or limit the expressive capacity of instructions given to the robots. Applications that utilize temporal logics provide a human-readable syntax for systems that ensures formal guarantees for specification completion. By providing a modality for global task specification, we seek to reduce cognitive load and allow for high-level objectives to be communicated to a multi-agent system. In addition to this, we also seek to expand the capabilities of swarms to understand desired actions via interpretable commands retrieved from a human. In this thesis, we first present a method for specification-based control of a quadrotor. We utilize quadrotors as a highly agile and maneuverable application platform that has a wide variety of uses in complex problem domains. Leveraging specification-based control allows us to formulate a specification-based planning framework that will be utilized throughout the thesis. We then present methods for creating systems which allows us to provide task decomposition, allocation and planning for a team of quadrotors defined as task orchestration of multi-robot systems. Next, the task allocation portion of the task orchestration work is extended in the online case by considering cost agnostic sampling of trajectories from an online optimization problem. Then, we will introduce learning techniques where temporal logic specifications are learned and generated from a set of user given traces. Finally, we will conclude this thesis by presenting an extension to the Robotarium through hardware and software modifications that provides remote users access to control aerial swarms.Ph.D

    Neuromorphic auditory computing: towards a digital, event-based implementation of the hearing sense for robotics

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    In this work, it is intended to advance on the development of the neuromorphic audio processing systems in robots through the implementation of an open-source neuromorphic cochlea, event-based models of primary auditory nuclei, and their potential use for real-time robotics applications. First, the main gaps when working with neuromorphic cochleae were identified. Among them, the accessibility and usability of such sensors can be considered as a critical aspect. Silicon cochleae could not be as flexible as desired for some applications. However, FPGA-based sensors can be considered as an alternative for fast prototyping and proof-of-concept applications. Therefore, a software tool was implemented for generating open-source, user-configurable Neuromorphic Auditory Sensor models that can be deployed in any FPGA, removing the aforementioned barriers for the neuromorphic research community. Next, the biological principles of the animals' auditory system were studied with the aim of continuing the development of the Neuromorphic Auditory Sensor. More specifically, the principles of binaural hearing were deeply studied for implementing event-based models to perform real-time sound source localization tasks. Two different approaches were followed to extract inter-aural time differences from event-based auditory signals. On the one hand, a digital, event-based design of the Jeffress model was implemented. On the other hand, a novel digital implementation of the Time Difference Encoder model was designed and implemented on FPGA. Finally, three different robotic platforms were used for evaluating the performance of the proposed real-time neuromorphic audio processing architectures. An audio-guided central pattern generator was used to control a hexapod robot in real-time using spiking neural networks on SpiNNaker. Then, a sensory integration application was implemented combining sound source localization and obstacle avoidance for autonomous robots navigation. Lastly, the Neuromorphic Auditory Sensor was integrated within the iCub robotic platform, being the first time that an event-based cochlea is used in a humanoid robot. Then, the conclusions obtained are presented and new features and improvements are proposed for future works.En este trabajo se pretende avanzar en el desarrollo de los sistemas de procesamiento de audio neuromórficos en robots a través de la implementación de una cóclea neuromórfica de código abierto, modelos basados en eventos de los núcleos auditivos primarios, y su potencial uso para aplicaciones de robótica en tiempo real. En primer lugar, se identificaron los principales problemas a la hora de trabajar con cócleas neuromórficas. Entre ellos, la accesibilidad y usabilidad de dichos sensores puede considerarse un aspecto crítico. Los circuitos integrados analógicos que implementan modelos cocleares pueden no pueden ser tan flexibles como se desea para algunas aplicaciones específicas. Sin embargo, los sensores basados en FPGA pueden considerarse una alternativa para el desarrollo rápido y flexible de prototipos y aplicaciones de prueba de concepto. Por lo tanto, en este trabajo se implementó una herramienta de software para generar modelos de sensores auditivos neuromórficos de código abierto y configurables por el usuario, que pueden desplegarse en cualquier FPGA, eliminando las barreras mencionadas para la comunidad de investigación neuromórfica. A continuación, se estudiaron los principios biológicos del sistema auditivo de los animales con el objetivo de continuar con el desarrollo del Sensor Auditivo Neuromórfico (NAS). Más concretamente, se estudiaron en profundidad los principios de la audición binaural con el fin de implementar modelos basados en eventos para realizar tareas de localización de fuentes sonoras en tiempo real. Se siguieron dos enfoques diferentes para extraer las diferencias temporales interaurales de las señales auditivas basadas en eventos. Por un lado, se implementó un diseño digital basado en eventos del modelo Jeffress. Por otro lado, se diseñó una novedosa implementación digital del modelo de codificador de diferencias temporales y se implementó en FPGA. Por último, se utilizaron tres plataformas robóticas diferentes para evaluar el rendimiento de las arquitecturas de procesamiento de audio neuromórfico en tiempo real propuestas. Se utilizó un generador central de patrones guiado por audio para controlar un robot hexápodo en tiempo real utilizando redes neuronales pulsantes en SpiNNaker. A continuación, se implementó una aplicación de integración sensorial que combina la localización de fuentes de sonido y la evitación de obstáculos para la navegación de robots autónomos. Por último, se integró el Sensor Auditivo Neuromórfico dentro de la plataforma robótica iCub, siendo la primera vez que se utiliza una cóclea basada en eventos en un robot humanoide. Por último, en este trabajo se presentan las conclusiones obtenidas y se proponen nuevas funcionalidades y mejoras para futuros trabajos

    Applications of Mathematical Models in Engineering

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    The most influential research topic in the twenty-first century seems to be mathematics, as it generates innovation in a wide range of research fields. It supports all engineering fields, but also areas such as medicine, healthcare, business, etc. Therefore, the intention of this Special Issue is to deal with mathematical works related to engineering and multidisciplinary problems. Modern developments in theoretical and applied science have widely depended our knowledge of the derivatives and integrals of the fractional order appearing in engineering practices. Therefore, one goal of this Special Issue is to focus on recent achievements and future challenges in the theory and applications of fractional calculus in engineering sciences. The special issue included some original research articles that address significant issues and contribute towards the development of new concepts, methodologies, applications, trends and knowledge in mathematics. Potential topics include, but are not limited to, the following: Fractional mathematical models; Computational methods for the fractional PDEs in engineering; New mathematical approaches, innovations and challenges in biotechnologies and biomedicine; Applied mathematics; Engineering research based on advanced mathematical tools

    Tools and Algorithms for the Construction and Analysis of Systems

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    This open access book constitutes the proceedings of the 28th International Conference on Tools and Algorithms for the Construction and Analysis of Systems, TACAS 2022, which was held during April 2-7, 2022, in Munich, Germany, as part of the European Joint Conferences on Theory and Practice of Software, ETAPS 2022. The 46 full papers and 4 short papers presented in this volume were carefully reviewed and selected from 159 submissions. The proceedings also contain 16 tool papers of the affiliated competition SV-Comp and 1 paper consisting of the competition report. TACAS is a forum for researchers, developers, and users interested in rigorously based tools and algorithms for the construction and analysis of systems. The conference aims to bridge the gaps between different communities with this common interest and to support them in their quest to improve the utility, reliability, exibility, and efficiency of tools and algorithms for building computer-controlled systems

    Multi-Robot Systems: Challenges, Trends and Applications

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    This book is a printed edition of the Special Issue entitled “Multi-Robot Systems: Challenges, Trends, and Applications” that was published in Applied Sciences. This Special Issue collected seventeen high-quality papers that discuss the main challenges of multi-robot systems, present the trends to address these issues, and report various relevant applications. Some of the topics addressed by these papers are robot swarms, mission planning, robot teaming, machine learning, immersive technologies, search and rescue, and social robotics

    Proceedings of the 22nd Conference on Formal Methods in Computer-Aided Design – FMCAD 2022

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    The Conference on Formal Methods in Computer-Aided Design (FMCAD) is an annual conference on the theory and applications of formal methods in hardware and system verification. FMCAD provides a leading forum to researchers in academia and industry for presenting and discussing groundbreaking methods, technologies, theoretical results, and tools for reasoning formally about computing systems. FMCAD covers formal aspects of computer-aided system design including verification, specification, synthesis, and testing

    Contributions to energy-aware demand-response systems using SDN and NFV for fog computing

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    Ever-increasing energy consumption, the depletion of non-renewable resources, the climate impact associated with energy generation, and finite energy-production capacity are important concerns worldwide that drive the urgent creation of new energy management and consumption schemes. In this regard, by leveraging the massive connectivity provided by emerging communications such as the 5G systems, this thesis proposes a long-term sustainable Demand-Response solution for the adaptive and efficient management of available energy consumption for Internet of Things (IoT) infrastructures, in which energy utilization is optimized based on the available supply. In the proposed approach, energy management focuses on consumer devices (e.g., appliances such as a light bulb or a screen). In this regard, by proposing that each consumer device be part of an IoT infrastructure, it is feasible to control its respective consumption. The proposal includes an architecture that uses Network Functions Virtualization (NFV) and Software Defined Networking technologies as enablers to promote the primary use of energy from renewable sources. Associated with architecture, this thesis presents a novel consumption model conditioned on availability in which consumers are part of the management process. To efficiently use the energy from renewable and non-renewable sources, several management strategies are herein proposed, such as the prioritization of the energy supply, workload scheduling using time-shifting capabilities, and quality degradation to decrease- the power demanded by consumers if needed. The adaptive energy management solution is modeled as an Integer Linear Programming, and its complexity has been identified to be NP-Hard. To verify the improvements in energy utilization, an optimal algorithmic solution based on a brute force search has been implemented and evaluated. Because the hardness of the adaptive energy management problem and the non-polynomial growth of its optimal solution, which is limited to energy management for a small number of energy demands (e.g., 10 energy demands) and small values of management mechanisms, several faster suboptimal algorithmic strategies have been proposed and implemented. In this context, at the first stage, we implemented three heuristic strategies: a greedy strategy (GreedyTs), a genetic-algorithm-based solution (GATs), and a dynamic programming approach (DPTs). Then, we incorporated into both the optimal and heuristic strategies a prepartitioning method in which the total set of analyzed services is divided into subsets of smaller size and complexity that are solved iteratively. As a result of the adaptive energy management in this thesis, we present eight strategies, one timal and seven heuristic, that when deployed in communications infrastructures such as the NFV domain, seek the best possible scheduling of demands, which lead to efficient energy utilization. The performance of the algorithmic strategies has been validated through extensive simulations in several scenarios, demonstrating improvements in energy consumption and the processing of energy demands. Additionally, the simulation results revealed that the heuristic approaches produce high-quality solutions close to the optimal while executing among two and seven orders of magnitude faster and with applicability to scenarios with thousands and hundreds of thousands of energy demands. This thesis also explores possible application scenarios of both the proposed architecture for adaptive energy management and algorithmic strategies. In this regard, we present some examples, including adaptive energy management in-home systems and 5G networks slicing, energy-aware management solutions for unmanned aerial vehicles, also known as drones, and applicability for the efficient allocation of spectrum in flex-grid optical networks. Finally, this thesis presents open research problems and discusses other application scenarios and future work.El constante aumento del consumo de energía, el agotamiento de los recursos no renovables, el impacto climático asociado con la generación de energía y la capacidad finita de producción de energía son preocupaciones importantes en todo el mundo que impulsan la creación urgente de nuevos esquemas de consumo y gestión de energía. Al aprovechar la conectividad masiva que brindan las comunicaciones emergentes como los sistemas 5G, esta tesis propone una solución de Respuesta a la Demanda sostenible a largo plazo para la gestión adaptativa y eficiente del consumo de energía disponible para las infraestructuras de Internet of Things (IoT), en el que se optimiza la utilización de la energía en función del suministro disponible. En el enfoque propuesto, la gestión de la energía se centra en los dispositivos de consumo (por ejemplo, electrodomésticos). En este sentido, al proponer que cada dispositivo de consumo sea parte de una infraestructura IoT, es factible controlar su respectivo consumo. La propuesta incluye una arquitectura que utiliza tecnologías de Network Functions Virtualization (NFV) y Software Defined Networking como habilitadores para promover el uso principal de energía de fuentes renovables. Asociada a la arquitectura, esta tesis presenta un modelo de consumo condicionado a la disponibilidad en el que los consumidores son parte del proceso de gestión. Para utilizar eficientemente la energía de fuentes renovables y no renovables, se proponen varias estrategias de gestión, como la priorización del suministro de energía, la programación de la carga de trabajo utilizando capacidades de cambio de tiempo y la degradación de la calidad para disminuir la potencia demandada. La solución de gestión de energía adaptativa se modela como un problema de programación lineal entera con complejidad NP-Hard. Para verificar las mejoras en la utilización de energía, se ha implementado y evaluado una solución algorítmica óptima basada en una búsqueda de fuerza bruta. Debido a la dureza del problema de gestión de energía adaptativa y el crecimiento no polinomial de su solución óptima, que se limita a la gestión de energía para un pequeño número de demandas de energía (por ejemplo, 10 demandas) y pequeños valores de los mecanismos de gestión, varias estrategias algorítmicas subóptimos más rápidos se han propuesto. En este contexto, en la primera etapa, implementamos tres estrategias heurísticas: una estrategia codiciosa (GreedyTs), una solución basada en algoritmos genéticos (GATs) y un enfoque de programación dinámica (DPTs). Luego, incorporamos tanto en la estrategia óptima como en la- heurística un método de prepartición en el que el conjunto total de servicios analizados se divide en subconjuntos de menor tamaño y complejidad que se resuelven iterativamente. Como resultado de la gestión adaptativa de la energía en esta tesis, presentamos ocho estrategias, una óptima y siete heurísticas, que cuando se despliegan en infraestructuras de comunicaciones como el dominio NFV, buscan la mejor programación posible de las demandas, que conduzcan a un uso eficiente de la energía. El desempeño de las estrategias algorítmicas ha sido validado a través de extensas simulaciones en varios escenarios, demostrando mejoras en el consumo de energía y el procesamiento de las demandas de energía. Los resultados de la simulación revelaron que los enfoques heurísticos producen soluciones de alta calidad cercanas a las óptimas mientras se ejecutan entre dos y siete órdenes de magnitud más rápido y con aplicabilidad a escenarios con miles y cientos de miles de demandas de energía. Esta tesis también explora posibles escenarios de aplicación tanto de la arquitectura propuesta para la gestión adaptativa de la energía como de las estrategias algorítmicas. En este sentido, presentamos algunos ejemplos, que incluyen sistemas de gestión de energía adaptativa en el hogar, en 5G networkPostprint (published version

    Optimization and Communication in UAV Networks

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    UAVs are becoming a reality and attract increasing attention. They can be remotely controlled or completely autonomous and be used alone or as a fleet and in a large set of applications. They are constrained by hardware since they cannot be too heavy and rely on batteries. Their use still raises a large set of exciting new challenges in terms of trajectory optimization and positioning when they are used alone or in cooperation, and communication when they evolve in swarm, to name but a few examples. This book presents some new original contributions regarding UAV or UAV swarm optimization and communication aspects
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