A Multi-robot Control Policy for Information Gathering in the Presence of Unknown Hazards

2016 ◽  
pp. 455-472 ◽  
Author(s):  
Mac Schwager ◽  
Philip Dames ◽  
Daniela Rus ◽  
Vijay Kumar
Keyword(s):  
Robot Control ◽  
Control Policy ◽  
Information Gathering ◽  
Multi Robot

scholarly journals STP: Skills, tactics, and plays for multi-robot control in adversarial environments

2005 ◽  
Vol 219 (1) ◽  
pp. 33-52 ◽  
Author(s):  
B Browning ◽  
J Bruce ◽  
M Bowling ◽  
M Veloso
Keyword(s):  
Robot Control ◽  
Control Policy ◽  
Hierarchical Architecture ◽  
Robot Soccer ◽  
Team Members ◽  
Strategy Adaptation ◽  
Dynamic Events ◽  
Team Activity ◽  
Adversarial Environments ◽  
Multi Robot

In an adversarial multi-robot task, such as playing robot soccer, decisions for team and single-robot behaviour must be made quickly to take advantage of short-term fortuitous events. When no such opportunities exist, the team must execute sequences of coordinated team action that increases the likelihood of future opportunities. A hierarchical architecture, called STP, has been developed to control an autonomous team of robots operating in an adversarial environment. STP consists of skills for executing the low-level actions that make up robot behaviour, tactics for determining what skills to execute, and plays for coordinating synchronized activity among team members. The STP architecture combines each of these components to achieve autonomous team control. Moreover, the STP hierarchy allows for fast team response in adversarial environments while carrying out actions with longer goals. This article presents the STP architecture for controlling an autonomous robot team in a dynamic adversarial task that allows for coordinated team activity towards long-term goals, with the ability to respond rapidly to dynamic events. Secondly, the subcomponent of skills and tactics is presented as a generalized single-robot control hierarchy for hierarchical problem decomposition with flexible control policy implementation and reuse. Thirdly, the play techniques contribute as a generalized method for encoding and synchronizing team behaviour, providing multiple competing team responses, and for supporting effective strategy adaptation against opponent teams. STP has been fully implemented on a robot platform and thoroughly tested against a variety of unknown opponent teams in a number of RoboCup robot soccer competitions. These competition results are presented as a mechanism to analyse the performance of STP in a real setting.

scholarly journals DeepIG: Multi-Robot Information Gathering With Deep Reinforcement Learning

2019 ◽  
Vol 4 (3) ◽  
pp. 3059-3066 ◽  
Author(s):  
Alberto Viseras ◽  
Ricardo Garcia
Keyword(s):  
Reinforcement Learning ◽  
Information Gathering ◽  
Multi Robot

Reconfigurable distributed real-time processing for multi-robot control: Design, implementation and experimentation

Robotica ◽  
2004 ◽  
Vol 22 (6) ◽  
pp. 661-679 ◽  
Author(s):  
J. Z. Pan ◽  
R. V. Patel
Keyword(s):  
Real Time ◽  
Information Exchange ◽  
Robot Control ◽  
Data Exchange ◽  
Processing System ◽  
System Level ◽  
Layered System ◽  
Test Bed ◽  
Design And Implementation ◽  
Multi Robot

Sophisticated robotic applications require systems to be reconfigurable at the system level. Aiming at this requirement, this paper presents the design and implementation of a software architecture for a reconfigurable real-time multi-processing system for multi-robot control. The system is partitioned into loosely coupled function units and the data modules manipulated by the function units. Modularized and unified structures of the sub-controllers and controller processes are designed and constructed. All the controller processes run autonomously and intra-sub-controller information exchange is realized by shared data modules that serve as a data repository in the sub-controller. The dynamic data-management processes are responsible for data exchange among sub-controllers and across the computer network. Among sub-controllers there is no explicit temporal synchronization and the data dependencies are maintained by using datum-based synchronization. The hardware driver is constructed as a two-layered system to facilitate adaptation to various robotic hardware systems. A series of effective schemes for software fault detection, fault anticipation and fault termination are accomplished to improve run-time safety. The system is implemented cost-effectively on a QNX real-time operating system (RTOS) based system with a complete PC architecture, and experimentally validated successfully on an experimental dual-arm test-bed. The results indicate that the architectural design and implementation are well suited for advanced application tasks.

scholarly journals An Intelligent Man-Machine Interface—Multi-Robot Control Adapted for Task Engagement Based on Single-Trial Detectability of P300

2016 ◽  
Vol 10 ◽  
Author(s):  
Elsa A. Kirchner ◽  
Su K. Kim ◽  
Marc Tabie ◽  
Hendrik Wöhrle ◽  
Michael Maurus ◽  
...  
Keyword(s):  
Robot Control ◽  
Task Engagement ◽  
Single Trial ◽  
Machine Interface ◽  
Man Machine Interface ◽  
Multi Robot
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