Distributed autonomous robotic systems

Distributed autonomous robotic systems (DARS) are systems composed of multiple autonomous units such as modules, cells, processors, agents and robots. Combination or co-operative operation of multiple autonomous units is expected to lead to desirable features such as flexibility, fault tolerance and efficiency. The papers in this volume seek to contribute solutions to the demanding task of designing distributed systems to realize robust and intelligent robotic systems.

Table of Contents

Multiple mobile robot systems
distributed systems
self-organization
co-operation and co-ordination in robotics
sensing and navigation for robotic systems
human robot interaction and assembly tasks
autonomous robotic systems and man-machine interfaces
RoboCup
distributed planning and learning.

Volume: [1] : Berlin ISBN 9783540701477

Description

As a new strategy to realize the goal of flexible, robust, fault-tolerant robotic systems, the distributed autonomous approach has quickly established itself as one of the fastest growing fields in robotics. This volume covers such topics as self-organization, communication and co-ordination, multi-robot manipulation and control, distributed system design, distributed sensing, intelligent manufacturing systems and group behaviour. The fundamental technologies and system architectures of distributed autonomous robotic systems are expounded in detail, along with the latest research findings.

Volume: 8 ISBN 9783642006432

Description

The International Symposia on Distributed Autonomous Robotic Systems (DARS) started at Riken, Japan in 1992. Since then, the DARS symposia have been held every two years: in 1994 and 1996 in Japan (Riken, Wako), in 1998 in Germany (Karlsruhe), in 2000 in the USA (Knoxville, TN), in 2002 in Japan (Fukuoka), in 2004 in France (Toulouse), and in 2006 in the USA (Minneapolis, MN). The 9th DARS symposium, which was held during November 17-19 in T- kuba, Japan, hosted 84 participants from 13 countries. The 48 papers presented there were selected through rigorous peer review with a 50% acceptance ratio. Along with three invited talks, they addressed the spreading research fields of DARS, which are classifiable along two streams: theoretical and standard studies of DARS, and interdisciplinary studies using DARS concepts. The former stream includes multi-robot cooperation (task assignment methodology among multiple robots, multi-robot localization, etc.), swarm intelligence, and modular robots. The latter includes distributed sensing, mobiligence, ambient intelligence, and mul- agent systems interaction with human beings. This book not only offers readers the latest research results related to DARS from theoretical studies to application-oriented ones; it also describes the present trends of this field. With the diversity and depth revealed herein, we expect that DARS technologies will flourish soon.

Table of Contents

Distributed Sensing.- Multi-Robot Uniform Frequency Coverage of Significant Locations in the Environment.- Measuring the Accuracy of Distributed Algorithms on Multi-robot Systems with Dynamic Network Topologies.- Network Topology Reconfiguration Based on Risk Management.- Energy-Efficient Distributed Target Tracking Using Wireless Relay Robots.- Cooperative Object Tracking with Mobile Robotic Sensor Network.- Deployment and Management of Wireless Sensor Network Using Mobile Robots for Gathering Environmental Information.- Global Pose Estimation of Multiple Cameras with Particle Filters.- Mobiligence.- Motion Control of Dense Robot Colony Using Thermodynamics.- Modeling of Self-organized Competition Hierarchy with Body Weight Development in Larval Cricket, Gryllus bimaculatus.- Intelligent Mobility Playing the Role of Impulse Absorption.- Ambient Intelligence.- Cognitive Ontology: A Concept Structure for Dynamic Event Interpretation and Description from Visual Scene.- Subjective Timing Control in Synchronized Motion of Humans.- Robot Software Framework Using Object and Aspect Oriented Programming Paradigm.- Distributed Context Assessment for Robots in Intelligent Environments.- Swarm Intelligence.- Jamology: Physics of Self-driven Particles and Toward Solution of All Jams.- Towards an Engineering Science of Robot Foraging.- A Modular Robot Driven by Protoplasmic Streaming.- A Distributed Scalable Approach to Formation Control in Multi-robot Systems.- Guiding a Robot Flock via Informed Robots.- Theoretical and Empirical Study of Pedestrian Outflow through an Exit.- Understanding the Potential Impact of Multiple Robots in Odor Source Localization.- Analyzing Multi-agent Activity Logs Using Process Mining Techniques.- Altruistic Relationships for Optimizing Task Fulfillment in Robot Communities.- Multi-robot Cooperation.- Robotic Self-replication, Self-diagnosis, and Self-repair: Probabilistic Considerations.- Analysis of Multi-robot Play Effectiveness and of Distributed Incidental Play Recognition.- Sparsing of Information Matrix for Practical Application of SLAM for Autonomous Robots.- Trajectory Generation for Multiple Robots of a Car Transportation System.- Distributed Control and Coordination of Cooperative Mobile Manipulator Systems.- Rearrangement Task by Multiple Robots Using a Territorial Approach.- A Task Planner for an Autonomous Social Robot.- A Stochastic Clustering Auction (SCA) for Centralized and Distributed Task Allocation in Multi-agent Teams.- Corridors for Robot Team Navigation.- Practical Control of Modular Robots.- Efficient Distributed Reinforcement Learning through Agreement.- Morphology Independent Learning in Modular Robots.- Reconfigurable Modular Robots Adaptively Transforming a Mechanical Structure (Numerical Expression of Transformation Criteria of "CHOBIE II" and Motion Experiments).- Toward Flexible and Scalable Self-reconfiguration of M-TRAN.- Reconfigurable Teams: Cooperative Goal Seeking with Self-Reconfigurable Robots.- "Deformable Wheel"-A Self-recovering Modular Rolling Track.- Exploit Morphology to Simplify Docking of Self-reconfigurable Robots.- Reconfigurable Modular Universal Unit (MUU) for Mobile Robots.- Multi-robot Systems.- Design and Analysis for AGV Systems Using Competitive Co-evolution.- Cooperative Control of Multi-robot Nonholonomic Systems with Dynamics Uncertainties and Control Time-Delays.- Guaranteed-Performance Multi-robot Routing under Limited Communication Range.- Pipeless Batch Plant with Operating Robots for a Multiproduct Production System.- Control Methodology of Transfer Crane with Look-Ahead Rule in Harbor Transportation System.- A Novel Marsupial Robot Society: Towards Long-Term Autonomy.- Predicting the Movements of Robot Teams Using Generative Models.- Interactive Mobile Robotic Drinking Glasses.- Human-Robot Interaction.- Adaptive Supervisory Control of a Communication Robot That Approaches Visitors.- Behavior Design of a Human-Interactive Robot through Parallel Tasks Optimization.- Tracking and Following People and Robots in Crowded Environment by a Mobile Robot with SOKUIKI Sensor.

Volume: 6 ISBN 9784431358695

Description

DARS is now a well-established conference that gathers every two years the main researchers in Distributed Robotics systems. Even if the field is growing, it has been maintained a one-track conference in order to enforce effective exchanges between the main researchers in the field. It now a well-established tradition to publish the main contributions as a book from Springer. There are already 5 books entitled "Distributed Autonomous Robotic Systems" 1 to 5.

Table of Contents

Part I Reconfigurable robots I Self-Reconfiguration Using Directed Growth A Hardware/Software Architecture for the Control of Self reconfigurable Robots Emergent Morphology Control of a Modular Robot by Exploiting the Interaction between Control and Mechanical Dynamics HydroGen: Automatically Generating Self-Assembly Code for Hydron Units Part II Emergence of intelligence through mobility Local Obstacle Avoidance with Reliable Goal Acquisition for Mobile Robots Adaptive Routing System by Intelligent Environment with Media Agents Multi-Robot Concurrent Learning in Museum Problem How a Cooperative Behavior can emerge from a Robot Team Vehicle Guidance System using Local Information Assistants Part III Multi-robot perception Topological Map Merging An Approach to Active Sensing using the Viterbi Algorithm. Using Group Knowledge for Multitarget Terrain-Based State Estimation Multi-AUVs for Visual Mapping Task Part IV Reconfigurable robots II Cellular Robots Forming a Mechanical Structure (Evaluation of structural formation and hardware design of 'CHOBIE II') Planning Behaviors of Modular Robots with Coherent Structure using Randomized Method In-Place Distributed Heterogeneous Reconfiguration Planning Distributed Metamorphosis of Regular M-TRAN Structures Part V Task allocation - Multi-robot cooperation Multi-Robot Task Allocation Method for Heterogeneous Tasks with Priorities Decentralized Markov Decision Processes for Handling Temporal and Resource constraints in a Multiple Robot System Emergent Robot Differentiation for Distributed Multi-Robot Task Allocation Cooperative Control Method Using Evaluation Information on Objective Achievement Multiple UAV cooperative searching operation using polygon area decomposition and efficient coverage algorithms Part VI Control architectures A Distributed Architecture for Autonomous Unmanned Aerial Vehicle Experimentation Aerial Shepherds: Coordination among UAVs and Swarms of Robots Dispersing Robots in an Unknown Environment Embedding Heterogeneous Levels of Decisional Autonomy in Multi-robot Systems Part VII Distributed problem solving Collective Energy Distribution: Maintaining the Energy Balance in Distributed Autonomous Robots Building Blocks for Multi-Robot Construction Coordinating aerial robots and sensor networks for localization and navigation Pervasive Sensor-less Networks for Cooperative Multi-Robot Tasks Part VIII Group behaviour Communication strategies in Multi-Robot Search and Retrieval:Experiences with MinDART Value-Based Communication Preservation for Mobile Robots Dynamical Reconfiguration of Cooperation Structure by Interaction Network Collecting Behavior of Interacting Robots with Virtual Pheromone Part IX Swarm intelligence Distributed Autonomous Micro Robots: from Small Clusters to a Real Swarm Modeling and Optimization of a Swarm-Intelligent Inspection System Scalable Control of Distributed Robotic Macrosensors Self-Organised Task Allocation in a Swarm of Robots Distributed Algorithms for Dispersion in Indoor Environments using a Swarm of Autonomous Mobile Robots Part X Motion coordination Optimal Design Methodology for an AGV Transportation System by Using the Queuing Network Theory Control of Vehicle Cooperative Behavior in Non-Signalized Intersection High Level Modeling of Cooperative Mobile Robot Systems Part XI Distributed control Lateral and Longitudinal Stability for Decentralized Formation Control Decentralized Cooperative Object Transportation by Multiple Mobile Robots with a Pushing Leader Part XII Applicati

Volume: 7 ISBN 9784431358787

Description

This book collects papers selected by an international program committee for presentation at the 8th International Symposium on Distributed Autonomous Robotic Systems. The papers present state of the art research advances in the field of distributed robotics. What makes this book distinctive is the emphasis on using multiple robots and on making them autonomous, as opposed to being teleoperated. Novel algorithms, system architectures, technologies, and numerous applications are covered.

Table of Contents

Multi-robot User Interface Modeling.- System Identification of Self-Organizing Robotic Swarms.- Frontier-Graph Exploration for Multi-Robot Systems in an Unknown Indoor Environment.- Learning when to Auction and when to Bid.- Simultaneous Planning, Localization, and Mapping in a Camera Sensor Network.- Cooperative Multi-robot Target Tracking.- Synchronization Control by Structural Modification of Nonlinear Oscillator Network.- Robotic Swarm Dispersion Using Wireless Intensity Signals.- A Particle Swarm-based Mobile Sensor Network for Odor Source Localization in a Dynamic Environment.- Distributed Robotic: a Language Approach.- Adaptive Robotic Communication Using Coordination Costs.- Distributed Metamorphosis Control of a Modular Robotic System M-TRAN.- Single Operator, Multiple Robots: Call-Request Handling in Tight-Coordination Tasks.- A Method for Building Small-Size Segment-Based Maps.- A Study on Proportion Regulation Model for Multi-Robot System.- Distributed, Play-Based Role Assignment for Robot Teams in Dynamic Environments.- A Comparative Study of Market-Based and Threshold-Based Task Allocation.- What to Communicate? Execution-Time Decision in Multi-agent POMDPs.- A Distributed Biconnectivity Check.- Empirical Evaluation of Auction-Based Coordination of AUVs in a Realistic Simulated Mine Countermeasure Task.- A Distributed Multi-Robot Cooperation Framework for Real Time Task Achievement.- Preliminary Results in Tracking Mobile Targets Using Range Sensors from Multiple Robots.- Principled Synthesis for Large-Scale Systems: Task Sequencing.- Market-Based Multi-Robot Coalition Formation.

Volume: 2 : softcover ISBN 9784431669449

Description

Great interest is now focused on distributed autonomous robotic systems (DARS) as a new strategy for the realization of flexible, robust, and intelligent robots. Inspired by autonomous, decentralized, and self-organizing biological systems, the field of DARS encompasses broad interdisciplinary technologies related not only to robotics and computer engineering but also to biology and psychology. The rapidly growing interest in this new area of research was manifest in the first volume of Distributed Autonomous Robotic Systems, published in 1994. This second volume in the series presents the most recent work by eminent researchers and includes such topics as multirobot control, distributed robotic systems design, self-organizing systems, and sensing and navigation for cooperative robots. Distributed Autonomous Robotic Systems 2 is a valuable source for those whose work involves robotics and will be of great interest to those in the fields of artificial intelligence, self-organizing systems, artificial life, and computer science.

Table of Contents

Trends and Perspective of Researches on Control System Theory.- Collective Intelligence in Natural and Artificial Systems.- Reconfiguration Method for a Distributed Mechanical System.- Shock Absorbers and Shock Transformers: Comparing the Collision Behavior of a Mobile Robot Equipped with Different Bumper Types.- Towards a Generic Computer Simulation Platform for Distributed Robotic System Development and Experiments.- Cooperation between a Human Operator and Multiple Robots for Maintenance Tasks at a Distance.- Fast 3D Simulation of Snake Robot Motion.- GMD-Snake: A Semi-Autonomous Snake-like Robot.- Development of a Snake-like Robot-Design Concept and Simulation of a Planar Movement Mode.- Multi-Robot Team Design for Real-World Applications.- An Application Concept of an Underwater Robot Society.- The Modeling of the Team Strategy of Robotic Soccer as a Multi-Agent Robot System.- A Model of Group Choice for Artificial Society.- Distributed Autonomous Formation Control of Mobile Robot Groups by Swarm-Based Pattern Generation.- Affordance in Autonomous Robot
Grounding Mechanism of Sensory Inputs.- Iterative Transportation Planning of Multiple Objects by Cooperative Mobile Robots.- Experimental Characteristics of Multiple-Robots Behaviors in Communication Network Expansion and Object-Fetching.- Managing Different Types of Interactions among Robots.- Amoeba Like Grouping Behavior for Autonomous Robots Using Vibrating Potential Field (Obstacle Avoidance on Uneven Road).- Dissipative Structure Network for Collective Autonomy: Spatial Decomposition of Robotic Group.- Cooperative Acceleration of Task Performance: Foraging Behavior of Interacting Multi-Robots System.- Asynchronous and Synchronous Cooperation
Demonstrated by Deadlock Resolution in a Distributed Robot System.- Cooperative Sweeping in Environments with Movable Obstacles.- Integration of Distributed Sensing Information in DARS based on Evidential Reasoning.- Implementing an Automated Reasoning System for Multi-Robot Cooperation.- Distributed Fail-Safe Structure for Collaborations of Multiple Manipulators.- Multi-Legged Vehicle Based on Mimic-Reactive Architecture.- Adaptability of a Decentralized Kinematic Control Algorithm to Reactive Motion under Microgravity.- Interactive Human-Robot Pole Balancing Utilizing Multiple Viitual Fuzzy Agents.- Cooperative Operation of Two Mobile Robots.- A New Approach to Multiple Robots' Behavior Design for Cooperative Object Manipulation.- Robot Behavior and Information System for Multiple Object Handling Robots.- Cooperative Strategy for Multiple Position-controlled Mobile Robots.- Cooperative Navigation among Multiple Mobile Robots.- Self-Localization of Autonomous Mobile Robots Using Intelligent Data Carriers.- Fusion of Range Images and Intensity Images Measured from Multiple View Points.- A Robot Duo for Cooperative Autonomous Navigation.- Appendix Related Research Topics.- Granularity and Scaling in Modularity Design for Manipulator Systems.- Shared Experience Learning on a pair of Autonomous Mobile Robots.- Autonomous Navigation of Mobile Robot by Using Hierarchical Fuzzy Inference and Multi-Sensor Fusion.- Genetic Approach for Autonomous Learning and Structural Evolution.- A Field Communication System for Distributed Autonomous Robots
Investigation of Cooperative Behavior on Messenger Robots Problem.- Power Grasping by Distributed Autonomous Control.- Acquiring Co-operation without Communication by Reinforcement Learning and Dynamics Identification.- BUGS: An Autonomous "Basic UXO Gathering System" Approach in Minefield Countermeasure & UXO Clearance II.- Consideration on Conceptual Design of Inter Robot Communications Network for Mobile Robot System
Concept of Implicit Communication and how to realize with current technology.

Volume: [1] : Tokyo ISBN 9784431701477

Description

As a new strategy to realize the goal of flexible, robust, fault-tolerant robotic systems, the distributed autonomous approach has quickly established itself as one of the fastest growing fields in robotics. This book is one of the first to devote itself solely to this exciting area of research, covering such topics as self-organization, communication and coordination, multi-robot manipulation and control, distributed system design, distributed sensing, intelligent manufacturing systems, and group behavior. The fundamental technologies and system architectures of distributed autonomous robotic systems are expounded in detail, along with the latest research findings. This book should prove indispensable not only to those involved with robotic engineering but also to those in the fields of artificial intelligence, self-organizing systems, and coordinated control.

Table of Contents

1: Introduction.- Trends of Distributed Autonomous Robotic Systems.- Manufacturing in the Future - Some Topics of IMS -.- 2: Distributed System Design.- Hierarchical Control Architecture with Learning and Adaptation Ability for Cellular Robotic System.- Optimization of the Distributed Systems by Autonomous Cooperation - Distributed Maximum Principle -.- Fault-Tolerance and Error Recovery in an Autonomous Robot with Distributed Controlled Components.- A Human Interface for Interacting with and Monitoring the Multi-Agent Robotic System.- 3: Distributed Sensing.- Real Time Robot Tracking System with Two Independent Lasers.- Fusing Image Information on the Basis of the Analytic Hierarchy Process.- 4: Distributed Planning and Control.- Rule Generation and Generalization by Inductive Decision Tree and Reinforcement Learning.- Fusion Strategy for Time Series Prediction and Knowledge based Reasoning for Intelligent Communication.- On a Deadlock-free Characteristic of the On-line and Decentralized Path-planning for Multiple Automata.- Distributed Strategy-making Method in Multiple Mobile Robot System.- Fully Distributed Traffic Regulation and Control for Multiple Autonomous Mobile Robots Operating in Discrete Space.- 5: Cooperative Operation.- A Medium Access Protocol (CSMA/CD-W) Supporting Wireless Inter-Robot Communication in Distributed Robotic Systems.- The Design of Communication Network for Dynamically Reconfigurable Robotic System.- A Multi Agent Distributed Host to Host to Robot Real-Time Communication Environment.- Coordinating Multiple Mobile Robots Through Local Inter-Robot Communication.- Negotiation Method for Collaborating Team Organization among Multiple Robots.- Resource Sharing in Distributed Robotic Systems based on A Wireless Medium Access Protocol (CSMA/CD-W).- An Experimental Realization of Cooperative Behavior of Multi-Robot System.- 6: Self-Organization.- Self Organization of a Mechanical System.- Evolutional Self-organization of Distributed Autonomous Systems.- Intention Model and Coordination for Collective Behavior in Group Robotic System.- High-order Strictly Local Swarms.- Self-Organization of an Uniformly Distributed Visuo-Motor Map through Controlling the Spatial Variation.- 7: Multi-Robot Behavior.- Behavior Control of Insects by Artificial Electrical Stimulation.- Find Path Problem of Autonomous Robots by Vibrating Potential Method.- Mutual-Entrainment-Based Communication Field in Distributed Autonomous Robotic System - Autonomous coordinative control in unpredictable environment -.- Cooperative Behavior of Parent-Children Type Mobile Robots.- Driving and Confinement of A Group in A Small Space.- 8: Coordinated Control.- Cooperative System between a Position-controlled Robot and a Crane with Three Wires.- Manipulability Indices in Multi-wire Driven Mechanisms.- Cooperating Multiple Behavior-Based Robots for Object Manipulation - System and Cooperation Strategy -.- Dynamically Reconfigurable Robotic System - Assembly of New Type Cells as a Dual-Peg-in-Hole Problem -.

Volume: 2 ISBN 9784431701903

Description

Table of Contents

Trends and Perspective of Researches on Control System Theory.- Collective Intelligence in Natural and Artificial Systems.- Reconfiguration Method for a Distributed Mechanical System.- Shock Absorbers and Shock Transformers: Comparing the Collision Behavior of a Mobile Robot Equipped with Different Bumper Types.- Towards a Generic Computer Simulation Platform for Distributed Robotic System Development and Experiments.- Cooperation between a Human Operator and Multiple Robots for Maintenance Tasks at a Distance.- Fast 3D Simulation of Snake Robot Motion.- GMD-Snake: A Semi-Autonomous Snake-like Robot.- Development of a Snake-like Robot-Design Concept and Simulation of a Planar Movement Mode.- Multi-Robot Team Design for Real-World Applications.- An Application Concept of an Underwater Robot Society.- The Modeling of the Team Strategy of Robotic Soccer as a Multi-Agent Robot System.- A Model of Group Choice for Artificial Society.- Distributed Autonomous Formation Control of Mobile Robot Groups by Swarm-Based Pattern Generation.- Affordance in Autonomous Robot
Grounding Mechanism of Sensory Inputs.- Iterative Transportation Planning of Multiple Objects by Cooperative Mobile Robots.- Experimental Characteristics of Multiple-Robots Behaviors in Communication Network Expansion and Object-Fetching.- Managing Different Types of Interactions among Robots.- Amoeba Like Grouping Behavior for Autonomous Robots Using Vibrating Potential Field (Obstacle Avoidance on Uneven Road).- Dissipative Structure Network for Collective Autonomy: Spatial Decomposition of Robotic Group.- Cooperative Acceleration of Task Performance: Foraging Behavior of Interacting Multi-Robots System.- Asynchronous and Synchronous Cooperation
Demonstrated by Deadlock Resolution in a Distributed Robot System.- Cooperative Sweeping in Environments with Movable Obstacles.- Integration of Distributed Sensing Information in DARS based on Evidential Reasoning.- Implementing an Automated Reasoning System for Multi-Robot Cooperation.- Distributed Fail-Safe Structure for Collaborations of Multiple Manipulators.- Multi-Legged Vehicle Based on Mimic-Reactive Architecture.- Adaptability of a Decentralized Kinematic Control Algorithm to Reactive Motion under Microgravity.- Interactive Human-Robot Pole Balancing Utilizing Multiple Viitual Fuzzy Agents.- Cooperative Operation of Two Mobile Robots.- A New Approach to Multiple Robots' Behavior Design for Cooperative Object Manipulation.- Robot Behavior and Information System for Multiple Object Handling Robots.- Cooperative Strategy for Multiple Position-controlled Mobile Robots.- Cooperative Navigation among Multiple Mobile Robots.- Self-Localization of Autonomous Mobile Robots Using Intelligent Data Carriers.- Fusion of Range Images and Intensity Images Measured from Multiple View Points.- A Robot Duo for Cooperative Autonomous Navigation.- Appendix Related Research Topics.- Granularity and Scaling in Modularity Design for Manipulator Systems.- Shared Experience Learning on a pair of Autonomous Mobile Robots.- Autonomous Navigation of Mobile Robot by Using Hierarchical Fuzzy Inference and Multi-Sensor Fusion.- Genetic Approach for Autonomous Learning and Structural Evolution.- A Field Communication System for Distributed Autonomous Robots
Investigation of Cooperative Behavior on Messenger Robots Problem.- Power Grasping by Distributed Autonomous Control.- Acquiring Co-operation without Communication by Reinforcement Learning and Dynamics Identification.- BUGS: An Autonomous "Basic UXO Gathering System" Approach in Minefield Countermeasure & UXO Clearance II.- Consideration on Conceptual Design of Inter Robot Communications Network for Mobile Robot System
Concept of Implicit Communication and how to realize with current technology.

Volume: 4 ISBN 9784431702955

Description

The Fifth International Symposium on Distributed Autonomous Robotic Systems (DARS 2000) dealt with new strategies to realize complex, modular, robust, and fault-tolerant robotic systems. Technologies, algorithms, and system architectures for distributed autonomous robotic systems were presented and discussed during the meeting. DARS 2000 was truly an international event, with participants represent ing eleven countries from Europe, Asia, and the Americas. All of the papers in this volume were presented at DARS 2000, and were selected on the basis of peer re views to ensure quality and relevance. These papers have the common goal of con tributing solutions to realize robust and intelligent multirobot systems. The topics of the symposium address a wide range of issues that are important in the development of decentralized robotic systems. These topics include architec tures, communication, biological inspirations, reconfigurable robots, localization, exploration and mapping, distributed sensing, multi robot motion coordination, tar get assignment and tracking, multirobot learning, and cooperative object transport. DARS clearly requires a broad area of interdisciplinary technologies related not only to robotics and computer engineering, but also to biology and psychology. The DARS symposium is the leading established conference on distributed au tonomous systems. The First, Second, and Third International Symposia on Distrib uted Autonomous Robotic Systems (DARS '92, DARS '94, and DARS '96) were held at the Institute of Physical and Chemical Research (RIKEN), Saitama, Japan.

Table of Contents

1: Introduction.- Current State of the Art in Distributed Autonomous Mobile Robotics.- 2: Architectures and Development Environments.- Control Architecture for an Underwater Robot Society.- Ayllu: Distributed Port-arbitrated Behavior-based Control.- An Architecture for Reactive Cooperation of Mobile Distributed Robots.- A Framework for Distributed Simulation of Multirobot Systems: The VLAB Experience.- Robots that Cooperatively Enhance Their Plans.- 3: Communication and Knowledge Sharing.- Performance Evaluation of Autonomous Knowledge Acquisition and Sharing by Intelligent Data Carriers System.- Collective Grounded Representations for Robots.- Effects of Static and Dynamic Variety in the Character of Robots on Group Intelligence of Multi-robot System.- Communication Fault Tolerance in Distributed Robotic Systems.- 4: Biological Inspirations.- Blazing a Trail: Insect-inspired Resource Transportation by a Robot Team.- Artificial Emotion and Social Robotics.- The Use of Biologically-Inspired Rules to Control a Collective Robotic Arm.- 5: Reconfigurable Robots.- Micro Self-Reconfigurable Robotic System using Shape Memory Alloy.- Autonomous and Self-Sufficient CONRO Modules for Reconfigurable Robots.- Motion Planning for a Modular Self-Reconfiguring Robotic System.- 6: Localization.- Distributed Multi-Robot Localization.- Distance Measurement in Multi-Robot Systems based on Time Shared Scheduling.- Relative Position Localizing System for Multiple Autonomous Mobile Robots in Distributed Robotic System.- Development of a Multiple Mobile Robot System Controlled by a Human -- Realization of Object Command Level.- 7: Exploration, Mapping, and Model Acquisition.- Autonomous Mobile Robots and Distributed Exploratory Missions.- Terrain Model Acquisition by Mobile Robot Teams and n-Connectivity.- Graph-Based Exploration using Multiple Robots.- Landmark-based Matching Algorithm for Cooperative Mapping by Autonomous Robots.- Comparing Distributed Exploration Strategies with Simulated and Real Autonomous Robots.- 8: Distributed Sensing.- Distributed Sensing and Data Collection via Broken Ad Hoc Wireless Connected Networks of Mobile Robots.- Experiments and Results in Multimodal, Distributed, Robotic Perception.- Cooperative Sentry Vehicles and Differential GPS Leapfrog.- 9: Multi-Robot Motion Coordination and Tracking.- Motion Coordination in Formations of Multiple Mobile Robots Using a Potential Field Approach.- Fly Spy: Lightweight Localization and Target Tracking for Cooperating Air and Ground Robots.- Dynamic Robot-Target Assignment -- Dependence of Recovering from Breakdowns on the Speed of the Selection Process.- Fuzzy Control of Distance and Motion Tracking Applied to Cooperative Autonomous Robots.- Broadcast of Local Eligibility for Multi-Target Observation.- A Communication-Free Behavior for Docking Mobile Robots.- 10: Multi-Robot Learning.- On Behavior Classification in Adversarial Environments.- Learning-Based Task Allocation in Decentralized Multirobot System.- Multi-Robot Learning in a Cooperative Observation Task.- Ultra-Fast Neural Network Training for Robot Learning from Uncertain Data.- 11: Cooperative Object Transport.- Object Transport Using Multiple Mobile Robots With Pin Joint Endeffectors.- Distributed Motion Generation for Two Omni-Directional Robots Carrying a Ladder.- Experimental Manufacturing of Object Transfer System "Magic Carpet" Consisting of Actuator Array with Autonomous Decentralized Control.- A Control Method of a Multiple Non-holonomic Robot System for Cooperative Object Transportation.- Structural Characteristics of Intelligence and Embodiment in Two-Mobile Robots System.- 12: Related Research Topics.- From Distributed Robot Perception to Human Topology: A Learning Model.- Reactive Sensor Networks.- Cooperation of Multiple Robots to Solve Maze Tasks.- Localizing a Wireless Node in a Multi-Agent System using Kalman Filtering.- Learning Cooperation from Human-Robot Interaction.- Susceptibility of Swarm Control Algorithms to Agent Failure.- The MICRobES Project, an Experimental Approach towards "Open Collective Robotics".- Dynamic Task Selection: A Simple Structure for Multirobot system.- Author Index.

Volume: 5 ISBN 9784431703396

Description

The 6th International Symposium on Distributed Autonomous Robotic Systems (DARS 2002) was held in June 2002 in Fukuoka, Japan, a decade after the first DARS symposium was convened. This book, containing the proceedings of the symposium, provides broad coverage of the technical issues in the current state of the art in distributed autonomous systems composed of multiple robots, robotic modules, or robotic agents. DARS 2002 dealt with new strategies for realizing complex, modular, robust, and fault-tolerant robotic systems, and this volume covers the technical areas of system design, modeling, simulation, operation, sensing, planning, and control. The papers that are included here were contributed by leading researchers from Asia, Oceania, Europe, and the Americas, and make up an invaluable resource for researchers and students in the field of distributed autonomous robotic systems.

Table of Contents

1: Introduction.- Perspective of Distributed Autonomous Robotic Systems.- 2: Modular Robotic Systems.- Navigating Modular Robots in the Face of Heuristic Depressions.- A Self-Reconfigurable Modular Robot (MTRAN) — Hardware and Motion Planning Software.- Automatic Parameter Identification for Rapid Setting Up of Distributed Modular Robots.- Distributed Replication Algorithms for Self-Reconfiguring Modular Robots.- 3: Communication and Cooperation.- Communication Mechanism in a Distributed System of Mobile Robots.- A Geometric Arbiter Selection Algorithm on Infrared Wireless Inter-Robot Communication.- A Study of Communication Emergence Among Mobile Robots: Simulations of Intention Transmission.- Communication by Datagram Circulation Among Multiple Autonomous Soccer Robots.- Autonomous Robots Sharing a Charging Station with No Communication: A Case Study.- 4: Human-Machine Cooperative Interaction.- A Scalable Command and Control System for Human-Machine Work Systems.- Implementing a Face Detection System Practically Robust Against Size Variation and Brightness Fluctuation for Distributed Autonomous Human Supporting Robotic Environment.- Voice Communication in Performing a Cooperative Task with a Robot.- 5: Multi-Robot Coordination.- Position Control of Load by Traction of Two Mobile Robots.- Cooperative Motion Coordination Amidst Dynamic Obstacles.- Collision Avoidance Algorithm for Two Tracked Mobile Robots Transporting a Single Object in Coordination Based on Function Allocation Concept.- A Decentralized Test Algorithm for Object Closure by Multiple Cooperating Mobile Robots.- Coordinated Transportation of a Single Object by a Group of Nonholonomic Mobile Robots.- 6: Robot Soccer.- Coordinated Trajectory Planning and Formation Control of Soccer Robots to Pass a BallCyclically.- M-ROSE: A Multi Robot Simulation Environment for Learning Cooperative Behavior.- Real-Time Adaptive Learning from Observation for RoboCup Soccer Agents.- An Empirical Study of Coaching.- 7: Distributed Control.- Decentralized Control of Redundant Manipulator Based on the Analogy of Heat and Wave Equations.- Cooperating Cleaning Robots.- Movement Model of Multiple Mobile Robots Based on Servo System.- On-Line Collision Avoidance of Mobile Robot for Dynamically Moving Obstacles.- Distributed Multi Robot Reactive Navigation.- 8: Distributed Sensing and Mapping.- Omnidirectional Distributed Vision for Multi-Robot Mapping.- How Many Robots? Group Size and Efficiency in Collective Search Tasks.- Mobile Sensor Network Deployment Using Potential Fields: A Distributed, Scalable Solution to the Area Coverage Problem.- Map Acquisition in Multi-Robot Systems Based on Time Shared Scheduling.- Principled Monitoring of Distributed Agents for Detection of Coordination Failure.- 9: Multi-Agent and Group Systems.- Cooperative Behavior of Interacting Simple Robots in a Clockface Arranged Foraging Field.- Graduated Spatial Pattern Formation of Micro Robot Group.- Heterogeneous Agents Cooperating: Robots, Field Devices, and Process Automation Integrated with Agent Technology.- 10: Multi-Robot Motion Planning.- Heuristic Approach of a Distributed Autonomous Guidance System to Adapt to the Dynamic Environment.- Spreading Out: A Local Approach to Multi-Robot Coverage.- Real-Time Cooperative Exploration by Reaction-Diffusion Equation on a Graph.- Research on Cooperative Capture by Multiple Mobile Robots — A Proposition of Cooperative Capture Strategies in the Pursuit Problem —.- 11: Emergence in Mobility.- Interpreting Two Psychological Functions by a Hierarchically StructuredNeural Memory Model.- Neural Control of Quadruped Robot for Autonomous Walking on Soft Terrain.- Kilorobot Search and Rescue Using an Immunologically Inspired Approach.- Universal Distributed Brain for Mobile Multi-Robot Systems.- Real-Time Control of Walking of Insect
Self-Organization of the Constraints and Walking Patterns.- 12: Learning in Distributed Robotic Systems.- Using Interaction-Based Learning to Construct an Adaptive and Fault-Tolerant Multi-Link Floating Robot.- Neural Networks (NN) Using Genetic Algorithms (GA) and Gradient Back-Propagation (GBP) for an Intelligent Obstacle Avoidance Behavior.- Interactive Q-Learning on Heterogeneous Agents System for Autonomous Adaptive Interface.

by "Nielsen BookData"

Distributed autonomous robotic systems

Author(s)

Bibliographic Information

Available at 67 libraries

Search this Book/Journal

Note

Description and Table of Contents

Description and Table of Contents

Details

Export