32 research outputs found
A Networking Framework for Multi-Robot Coordination
Autonomous robots operating in real environments need to be able to interact with a dynamic world populated with objects, people, and, in general, other agents.
The current generation of autonomous robots, such as the ASIMO robot by Honda or the QRIO by Sony, has showed impressive performances in mechanics and control of movements; moreover, recent literature reports encouraging results about the capability of such robots of representing themselves with respect to a dynamic external world, of planning future actions and of evaluating resulting situations in order to make new plans. However, when multiple robots are supposed to operate together, coordination and communication issues arise; while noteworthy results have been achieved with respect to the control of a single robot, novel issues arise when the actions of a robot influence another''s behavior.
The increase in computational power available to systems nowadays makes it feasible, and even convenient, to organize them into a single distributed computing environment in order to exploit the synergy among different entities. This is especially true for robot teams, where cooperation is supposed to be the most natural scheme of operation, especially when robots are required to operate in highly constrained scenarios, such as inhospitable sites, remote sites, or indoor environments where strict constraints on intrusiveness must be respected.
In this case, computations will be inherently network-centric, and to solve the need for communication inside robot collectives, an efficient network infrastructure must be put into place; once a proper communication channel is established, multiple robots may benefit from the interaction with each other in order to achieve a common goal.
The framework presented in this paper adopts a composite networking architecture, in which a hybrid wireless network, composed by commonly available WiFi devices, and the more recently developed wireless sensor networks, operates as a whole in order both to provide a communication backbone for the robots and to extract useful information from the environment.
The ad-hoc WiFi backbone allows robots to exchange coordination information among themselves, while also carrying data measurements collected from surrounding environment, and useful for localization or mere data gathering purposes.
The proposed framework is called RoboNet, and extends a previously developed robotic tour guide application (Chella et al., 2007) in the context of a multi-robot application; our system allows a team of robots to enhance their perceptive capabilities through coordination obtained via a hybrid communication network; moreover, the same infrastructure allows robots to exchange information so as to coordinate their actions in order to achieve a global common goal.
The working scenario considered in this paper consists of a museum setting, where guided tours are to be automatically managed. The museum is arranged both chronologically and topographically, but the sequence of findings to be visited can be rearranged depending on user queries, making a sort of dynamic virtual labyrinth with various itineraries. Therefore, the robots are able to guide visitors both in prearranged tours and in interactive tours, built in itinere depending on the interaction with the visitor: robots are able to rebuild the virtual connection between findings and, consequently, the path to be followed.
This paper is organized as follows. Section 2 contains some background on multi-robot coordination, and Section 3 describes the underlying ideas and the motivation behind the proposed architecture, whose details are presented in Sections 4, 5, and 6. A realistic application scenario is described in Section 7, and finally our conclusions are drawn in Section 8
Out-of-equilibrium collective oscillation as phonon condensation in a model protein
In the first part of the present paper (theoretical), the activation of
out-of-equilibrium collective oscillations of a macromolecule is described as a
classical phonon condensation phenomenon. If a macromolecule is modeled as an
open system, that is, it is subjected to an external energy supply and is in
contact with a thermal bath to dissipate the excess energy, the internal
nonlinear couplings among the normal modes make the system undergo a
non-equilibrium phase transition when the energy input rate exceeds a threshold
value. This transition takes place between a state where the energy is
incoherently distributed among the normal modes, to a state where the input
energy is channeled into the lowest frequency mode entailing a coherent
oscillation of the entire molecule. The model put forward in the present work
is derived as the classical counterpart of a quantum model proposed long time
ago by H. Fr\"ohlich in the attempt to explain the huge speed of enzymatic
reactions. In the second part of the present paper (experimental), we show that
such a phenomenon is actually possible. Two different and complementary THz
near-field spectroscopic techniques, a plasmonic rectenna, and a micro-wire
near-field probe, have been used in two different labs to get rid of artefacts.
By considering a aqueous solution of a model protein, the BSA (Bovine Serum
Albumin), we found that this protein displays a remarkable absorption feature
around 0.314 THz, when driven in a stationary out-of-thermal equilibrium state
by means of optical pumping. The experimental outcomes are in very good
qualitative agreement with the theory developed in the first part, and in
excellent quantitative agreement with a theoretical result allowing to identify
the observed spectral feature with a collective oscillation of the entire
molecule.Comment: 49 pages, 10 figures; Physical Review X, (2018) in pres
The Silent Epidemic of Diabetic Ketoacidosis at Diagnosis of Type 1 Diabetes in Children and Adolescents in Italy During the COVID-19 Pandemic in 2020
To compare the frequency of diabetic ketoacidosis (DKA) at diagnosis of type 1 diabetes in Italy during the COVID-19 pandemic in 2020 with the frequency of DKA during 2017-2019