scholarly journals Interleaved Online Task Planning, Simulation, Task Allocation and Motion Control for Flexible Human-Robot Cooperation

2018 ◽  
Author(s):  
Kourosh Darvish ◽  
Barbara Bruno ◽  
Enrico Simetti ◽  
Fulvio Mastrogiovanni ◽  
Giuseppe Casalino
Keyword(s):  
Motion Control ◽  
Task Allocation ◽  
Task Planning ◽  
Robot Cooperation ◽  
Simulation Task

Distributed Coordination Architecture for Cooperative Task Planning and Execution of Intelligent Multi-Robot Systems

2015 ◽  
pp. 407-426 ◽  
Author(s):  
Gen'ichi Yasuda
Keyword(s):  
Large Scale ◽  
Discrete Event ◽  
Robotic Systems ◽  
Task Planning ◽  
Distributed Coordination ◽  
Robot Systems ◽  
Concurrent Processes ◽  
Manufacturing Applications ◽  
Robot Cooperation ◽  
Multi Robot

This chapter provides a practical and intuitive way of cooperative task planning and execution for complex robotic systems using multiple robots in automated manufacturing applications. In large-scale complex robotic systems, because individual robots can autonomously execute their tasks, robotic activities are viewed as discrete event-driven asynchronous, concurrent processes. Further, since robotic activities are hierarchically defined, place/transition Petri nets can be properly used as specification tools on different levels of control abstraction. Net models representing inter-robot cooperation with synchronized interaction are presented to achieve distributed autonomous coordinated activities. An implementation of control software on hierarchical and distributed architecture is presented in an example multi-robot cell, where the higher level controller executes an activity-based global net model of task plan representing cooperative behaviors performed by the robots, and the parallel activities of the associated robots are synchronized without the coordinator through the transmission of requests and the reception of status.

Improving Multi-Robot Coordination by Game-Theoretic Learning Algorithms

2018 ◽  
Vol 27 (07) ◽  
pp. 1860015 ◽  
Author(s):  
Michalis Smyrnakis ◽  
Hongyang Qu ◽  
Sandor M. Veres
Keyword(s):  
Task Allocation ◽  
Cooperative Games ◽  
Learning Algorithms ◽  
Potential Games ◽  
Learning Scheme ◽  
Game Theoretic ◽  
Robot Cooperation ◽  
Shared Objective ◽  
Theoretical Results ◽  
Multi Robot

Cooperative games-based robot cooperation is analysed for reoccurring scenarios. It is shown that potential games can be used for robot coordination when the robots have a shared objective. By observing each others’ behaviour in similar scenarios, they estimate each other’s expected actions, which they use for their own choice of action. The resulting learning scheme can enable “tuning” of smooth cooperation by task allocation in teams of robots for various goals and in reoccurring scenarios of their environment. The theoretical results and methods are illustrated in simulation.

Design and Implementation of Distributed Autonomous Coordinators for Cooperative Multi-Robot Systems

2020 ◽  
pp. 324-339
Author(s):  
Gen'ichi Yasuda
Keyword(s):  
Petri Nets ◽  
Discrete Event ◽  
Task Planning ◽  
Multiple Robots ◽  
Robot Systems ◽  
Consistent Manner ◽  
Concurrent Processes ◽  
Robot Cooperation ◽  
The Individual ◽  
Multi Robot

The paper presents a systematic method of the design of cooperative task planning and execution for complex robotic systems using multiple robots. Because individual robots can autonomously execute their dedicated tasks, in cooperative multi-robot systems, robotic activities should be designed as discrete event driven asynchronous, concurrent processes. Further, since robotic activities are hierarchically defined, control requirements should be specified in a proper and consistent manner on different levels of control abstraction. In this paper, Petri nets are adopted as a specification tool for task planning and execution by multiple robots. Based on place/transition Petri nets, control conditions for inter-robot cooperation with synchronized interaction are represented, and control rules to achieve distributed autonomous coordinated activities with synchronous and asynchronous communication are proposed. An implementation of net based control software on hierarchical and distributed architecture is presented for an example multi-robot cell, where the higher-level controller executes a global net model of task plan representing cooperative behaviors performed by the robots, and the parallel activities of the individual robots are synchronized through the transmission of requests and the reception of status between the associated lower-level local controllers.

Control of Mobile Sensor Networks: A State-of-the-Art Review

2008 ◽  
Author(s):  
J. Karl Hedrick ◽  
Brandon Basso ◽  
Joshua Love ◽  
Anouck R. Girard ◽  
Andrew T. Klesh
Keyword(s):  
Sensor Networks ◽  
Motion Control ◽  
Task Allocation ◽  
Autonomous Vehicles ◽  
State Of The Art ◽  
Network Connectivity ◽  
Mobile Sensor Networks ◽  
Mobile Sensor ◽  
Broad Area ◽  
Communication Devices

This paper presents a state-of-the-art survey in the broad area of Mobile Sensor Networks (MSNs). There is currently a great deal of interest in having autonomous vehicles carrying sensors and communication devices that can conduct ISR (intelligence, surveillance and reconnaissance) operations. Although this paper will discuss issues common to mobile sensor networks, the applications will generally be associated with autonomous vehicles. Areas that are addressed are: 1. Mission definition languages that allow the human to compose a mission defined in terms of tasks; 2. Communication issues including hardware, software, and network connectivity; 3. Task allocation among the assets generally by a market-based approach; 4. Path planning for individual agents; and 5. Platform motion control using autopilots with and without GPS signals and including collision avoidance.

scholarly journals Modeling of Task Planning for Multirobot System Using Reputation Mechanism

2014 ◽  
Vol 2014 ◽  
pp. 1-12
Author(s):  
Zhiguo Shi ◽  
Jun Tu ◽  
Yuankai Li ◽  
Junming Wei
Keyword(s):  
Task Allocation ◽  
Calibration Function ◽  
Task Planning ◽  
Biped Robots ◽  
Task Decomposition ◽  
Reputation Mechanism ◽  
Multirobot System ◽  
Time Calibration ◽  
Experimental Apparatus ◽  
Simulation And Experiment

Modeling of task planning for multirobot system is developed from two parts: task decomposition and task allocation. In the part of task decomposition, the conditions and processes of decomposition are elaborated. In the part of task allocation, the collaboration strategy, the framework of reputation mechanism, and three types of reputations are defined in detail, which include robot individual reputation, robot group reputation, and robot direct reputation. A time calibration function and a group calibration function are designed to improve the effectiveness of the proposed method and proved that they have the characteristics of time attenuation, historical experience related, and newly joined robot reward. Tasks attempt to be assigned to the robot with higher overall reputation, which can help to increase the success rate of the mandate implementation, thereby reducing the time of task recovery and redistribution. Player/Stage is used as the simulation platform, and three biped-robots are established as the experimental apparatus. The experimental results of task planning are compared with the other allocation methods. Simulation and experiment results illustrate the effectiveness of the proposed method for multi-robot collaboration system.

Design and Implementation of Distributed Autonomous Coordinators for Cooperative Multi-Robot Systems

2016 ◽  
Vol 5 (4) ◽  
pp. 1-15 ◽  
Author(s):  
Gen'ichi Yasuda
Keyword(s):  
Petri Nets ◽  
Discrete Event ◽  
Task Planning ◽  
Multiple Robots ◽  
Control Rules ◽  
Robot Systems ◽  
Consistent Manner ◽  
Robot Cooperation ◽  
The Individual ◽  
Multi Robot

The paper presents a systematic method of the design of cooperative task planning and execution for complex robotic systems using multiple robots. Because individual robots can autonomously execute their dedicated tasks, in cooperative multi-robot systems, robotic activities should be designed as discrete event driven asynchronous, concurrent processes. Further, since robotic activities are hierarchically defined, control requirements should be specified in a proper and consistent manner on different levels of control abstraction. In this paper, Petri nets are adopted as a specification tool for task planning and execution by multiple robots. Based on place/transition Petri nets, control conditions for inter-robot cooperation with synchronized interaction are represented, and control rules to achieve distributed autonomous coordinated activities with synchronous and asynchronous communication are proposed. An implementation of net based control software on hierarchical and distributed architecture is presented for an example multi-robot cell, where the higher-level controller executes a global net model of task plan representing cooperative behaviors performed by the robots, and the parallel activities of the individual robots are synchronized through the transmission of requests and the reception of status between the associated lower-level local controllers.

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