Multi-robot task planning problem with uncertainty in game theoretic framework

The final publication is available at Springer via http://dx.doi.org/10.1007/978-3-642-31665-4_6An efficiency of an multi-robot systems depends on proper coordinating tasks of all robots. This paper presents a game theoretic approach to modelling and solving the pick-up and collection problem. The classical form of this problem is modified in order to introduce the aspect of an uncertainty related to an information about the workspace inside of which robots are intended to perform the task. The process of modelling the problem in game theoretic framework, as well as cooperative solution to the problem is discussed in these paper. Results of exemplary simulations are presented to prove the suitability of the approach presented.Skrzypczyk, K.; Mellado Arteche, M. (2013). Multi-robot task planning problem with uncertainty in game theoretic framework. En Advanced Technologies for Intelligent Systems of National Border Security. Springer. 69-80. doi:10.1007/978-3-642-31665-4_6S6980Alami, R., et al.: Toward human-aware robot task planning. In: Proc. of AAAI Spring Symposium, Stanford (USA), pp. 39–46 (2006)Baioletti, M., Marcugini, S., Milani, A.: Task Planning and Partial Order Planning: A Domain Transformation Approach. In: Steel, S. (ed.) ECP 1997. LNCS, vol. 1348. Springer, Heidelberg (1997)Desouky, S.F., Schwartz, H.M.: Self-learning Fuzzy logic controllers for pursuit-evasion differential games. Robotics and Autonomous Systems (2010), doi:10.1016/j.robot.2010.09.006Harmati, I., Skrzypczyk, K.: Robot team coordination for target tracking using fuzzy logic controller in game theoretic framework. Robotics and Autonomous Systems 57(1) (2009)Kaminka, G.A., Erusalimchik, D., Kraus, S.: Adaptive Multi-Robot Coordination: A Game-Theoretic Perspective. In: Proc. of IEEE International Conference on Robotics and Automation, Anchorage, Alaska, USA (2002)Kok, J.R., Spaan, M.T.J., Vlassis, N.: Non-communicative multi-robot coordination in dynamic environments. Robotics and Autonomous Systems 50(2-3), 99–114 (2005)Klusch, M., Gerber, A.: Dynamic coalition formation among rational agents. IEEE Intelligent Systems 17(3), 42–47 (2002)Kraus, S., Winkfeld, J., Zlotkin, G.: Multiagent negotiation under time constraints. Artificial Intelligence 75, 297–345 (1995)Kraus, S.: Negotiation and cooperation in multiagent environments. Artificial Intelligence 94(1-2), 79–98 (1997)Mataric, M., Sukhatme, G., Ostergaard, E.: Multi-Robot Task Allocation in Uncertain Environments. Autonomous Robots (14), 255–263 (2003)Meng, Y.: Multi-Robot Searching using Game-Theory Based Approach. International Journal of Advanced Robotic Systems 5(4) (2008)Jones, C., Mataric, M.: Adaptive Division of Labor in Large-Scale Minimalist Multi-Robot Systems. In: Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, USA, pp. 1969–1974 (2003)Sariel, S., Balch, T., Erdogan, N.: Incremental Multi-Robot Task Selection for Resource Constrained and Interrelated Tasks. In: Proc. of 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, USA (2007)Schneider-Fontan, M., Mataric, M.J.: Territorial Multi-Robot Task Division. IEEE Transactions on Robotics and Automation 14(5), 815–822 (1998)Song, M., Gu, G., Zhang, R., Wang, X.: A method of multi-robot formation with the least total cost. International Journal of Information and System Science 1(3-4), 364–371 (2005)Cheng, X., Shen, J., Liu, H., Gu, G.-c.: Multi-robot Cooperation Based on Hierarchical Reinforcement Learning. In: Shi, Y., van Albada, G.D., Dongarra, J., Sloot, P.M.A. (eds.) ICCS 2007. LNCS, vol. 4489, pp. 90–97. Springer, Heidelberg (2007

Handling uncertainty of resource division in multi agent system using game against nature

This paper addresses the problem of resource division for robotic agents in the framework of Multi Agent System. Knowledge of the environment represented in the system is uncertain, incomplete and distributed among the individual agents that have both limited sensing and communication abilities. The pick-up-and-collection problem is considered in order to illustrate the idea presented. In this paper a framework for cooperative task assignment to individual agents is discussed. The process of negotiating access to common resources by intercommunicating agents is modeled and solved as a game against Nature. The working of the proposed system was verified by multiple simulations. Selected, exemplary simulations are presented in the paper to illustrate the approach discussed.This study is partially supported by IMPA (Inspection & Manipulation of Food Products) project (ref. DPI2010-20286), funded by the Spanish Government MICINN and by Programa de Apoyo a la Investigacion y Desarrollo (PAID-02-11) of the Universitat Politecnica de Valencia.Skrzypczyk, K.; Mellado Arteche, M. (2014). Handling uncertainty of resource division in multi agent system using game against nature. Archives of Control Sciences. 24(3):351-373. https://doi.org/10.2478/acsc-2014-0021S35137324

Control of a team of mobile robots based on non-cooperative equilibria with partial coordination

In this work we present an application of the concept of non-cooperative game equilibria to the design of a collision free movement of a team of mobile robots in a dynamic environment. We propose the solution to the problem of feasible control synthesis, based on a partially centralized sensory system. The control strategy based on the concept of non-cooperative game equilibria is well known in the literature. It is highly efficient through phases where the solution is unique. However, even in simple navigation problems, it happens that multiple equilibria occur, which incurs a problem for control synthesis and may lead to erroneous results. In this paper we present a solution to this problem based on the partial centralization idea. The coordinator module is incorporated into the system and becomes active when multiple equilibria are detected. The coordination method includes a “fair arbiter ” for the selection of an appropriate equilibrium solution. Simulation studies of the proposed methodology were carried out for 2, 3 and 5 robots, and their results are presented

Multi-Sensory Data Fusion in Terms of UAV Detection in 3D Space

The paper focuses on the problem of detecting unmanned aerial vehicles that violate restricted airspace. The main purpose of the research is to develop an algorithm that enables the detection, identification and recognition in 3D space of a UAV violating restricted airspace. The proposed method consists of multi-sensory data fusion and is based on conditional complementary filtration and multi-stage clustering. On the basis of the review of the available UAV detection technologies, three sensory systems classified into the groups of passive and active methods are selected. The UAV detection algorithm is developed on the basis of data collected during field tests under real conditions, from three sensors: a radio system, an ADS-B transponder and a radar equipped with four antenna arrays. The efficiency of the proposed solution was tested on the basis of rapid prototyping in the MATLAB simulation environment with the use of data from the real sensory system obtained during controlled UAV flights. The obtained results of UAV detections confirmed the effectiveness of the proposed method and theoretical expectations

Synthesis and evaluation of the smart electric powered wheelchair route stabilization concept – a simulation study

The paper addresses the problem of algorithm synthesis for controlling the motion of an electric powered wheelchair. The aim of the algorithm is to stabilize the wheelchair following a linear path and avoiding obstacles if occurred on its way. The main restriction imposed on the project is the application of simple low-cost sensors. That implies the system to cope with a number of inaccuracies and uncertainties related to the measurements. The goal of this work is to evaluate the possibility of the wheelchair project with a navigation system which aids a disable person to move in a complex and dynamic areas. Exemplary simulations are presented in order to discuss the results obtained

Raport 2015, wystawa środowiska akademickiego Wydziału Sztuk Pięknych Uniwersytetu Mikołaja Kopernika w Toruniu

Katalog stanowi dokumentację wystawy Raport 2015 - wystawy środowiska akademickiego Wydziału Sztuk Pięknych Uniwersytetu Mikołaja Kopernika towarzyszącej obchodom 70- lecia Uniwersytetu i Wydziału. Wystawa, eksponowana w dniach 1.04-15.05.2016 r. w Centrum Sztuki Współczesnej „Znaki czasu” w Toruniu, stanowiła część większego projektu, w ramach którego została uruchomiona strona internetowa historia.wsp.umk.pl prezentująca historię Wydziału Sztuk Pięknych UMK oraz biogramy i portfolia zmarłych artystów związanych z uczelnią. Samej wystawie towarzyszył pokaz multimedialny poświęcony nieżyjącym kolegom oraz warsztaty artystyczno-edukacyjne gRA-PORT przeprowadzone w bezpośrednim kontakcie z dziełami sztuki. Publikacja prezentuje reprodukcje 91 wystawionych dzieł wraz z notami biograficznymi artystów. Opatrzona została wstępem dr hab. Elżbiety Basiul, prof. UMK - Dziekan WSP UMK oraz dr hab. Alicji Majewskiej, prof. UMK - Przewodniczącej Komitetu Organizacyjnego. Zawiera także historyczny opis tradycji Wydziału Sztuk Pięknych UMK pióra Jerzego Malinowskiego oraz merytoryczne wprowadzenie do wystawy autorstwa Małgorzaty Jankowskiej. Całe opracowanie wieńczy fotorelacja z otwarcia wystawy oraz przeprowadzonych warsztatów. Integralnym elementem wydawnictwa jest płyta dokumentująca pokaz multimedialny.The catalogue makes a documentation of the exhibition Report 2015 – an exhibition of the academic milieu of the Faculty of Fine Arts, Nicolaus Copernicus University that accompanied the celebration of 70th anniversary of both the University and Faculty. The exhibition, available to the public from April 1st to April 15th 2016 in the Centre of Contemporary Art „Znaki Czasu/Signs of the Times” in Toruń, made a part of a larger project within the framework of which a website historia.wsp.umk.pl was launched that presents the history of the Faculty as well as biographies and portfolios of deceased artists associated with the NCU Faculty of Fine. The exhibition itself was accompanied by a multi-media presentation dedicated to deceased colleagues and an art-educational workshop gRA-PORT carried out in direct contact with artworks by the students of the third year of Art education in the field of fine. The publication presents reproductions of 91 of the exhibited works together with biographies of the artists. It is provided with a general introduction by dr hab. Elżbieta Basiul, NCU professor – Dean of the NCU Faculty of Fine Arts and by dr hab. Alicja Majewskia, NCU professor – President of the Organising Committee. It contains also the history of the tradition of the NCU Faculty of Fine Arts by Jerzy Malinowski and a substantive introduction to the exhibition by Małgorzata Jankowska. The whole coverage is completed with a photo-report of the opening of the exhibition. An integral part of the publication is the attached CD with a multimedia presentation

Numerical analysis of laser-welded flange pipe joints in lap and fillet configurations

This article presents a numerical analysis of laser-welded flange pipe joints. The presented results concern the welding of low carbon S235JR and stainless 316L steels using a CO2 laser in lap and fillet joint configurations. The estimation of welding parameters was achieved using Simufact Welding software and numerical simulation, where output power, feed rate, efficiency and intensity distribution (Gaussian parameter) were analysed. In accordance with the established model, a thermo-mechanical simulation was performed. The calculated joint geometries show good agreement with experiments; therefore, the obtained results were used to study selected joint properties of both joint types. Stress-strain distribution was estimated on the basis of thermo-mechanical analysis. Weld bead geometry obtained from numerical simulation was compared with the results from trial joints. The numerical model established for both joint configurations shows good agreement with experimental results and were assumed to be accurate. The results of the performed analysis shown some advantages of the use of this configuration of lap joints in flange pipe joints