scholarly journals HOTSPOT: An Ad Hoc Teamwork Platform for Mixed Human-Robot Teams

2021 ◽  
Author(s):  
João G. Ribeiro ◽  
Luis Müller Henriques ◽  
Sérgio Colcher ◽  
Julio Cesar Duarte ◽  
Francisco S. Melo ◽  
...  
Keyword(s):  
Language Processing ◽  
Open Space ◽  
Ad Hoc ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Robot Teams ◽  
Communication Module ◽  
Multi Agent ◽  
Application Potential ◽  
Research Avenue

Ad hoc teamwork is a research topic in multi-agent systems whereby an agent (the "ad hoc agent") must successfully collaborate with a set of unknown agents (the "teammates") without any prior coordination or communication protocol. However, research in ad hoc teamwork is predominantly focused on agent-only teams, but not in agent-human teams, which we believe is an exciting research avenue and has enormous application potential in human-robot teams. This paper will tap into this potential by proposing HOTSPOT, the first framework for ad hoc teamwork in human-robot teams. Our framework comprises two main modules, addressing the two key challenges in the interaction between a robot acting as the ad hoc agent and human teammates. First, a <i>decision-theoretic module</i> that is responsible for all task-related decision making (task identification, teammate identification, and planning). Second, a <i>communication module</i> that uses natural language processing in order to parse all communication between the robot and the human. To evaluate our framework, we use a task where a mobile robot and a human cooperatively collect objects in an open space, illustrating the main features of our framework in a real-world task.

scholarly journals HOTSPOT: An Ad Hoc Teamwork Platform for Mixed Human-Robot Teams

2021 ◽  
Author(s):  
João G. Ribeiro ◽  
Luis Müller Henriques ◽  
Sérgio Colcher ◽  
Julio Cesar Duarte ◽  
Francisco S. Melo ◽  
...  
Keyword(s):  
Language Processing ◽  
Open Space ◽  
Ad Hoc ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Robot Teams ◽  
Communication Module ◽  
Multi Agent ◽  
Application Potential ◽  
Research Avenue

Ad hoc teamwork is a research topic in multi-agent systems whereby an agent (the "ad hoc agent") must successfully collaborate with a set of unknown agents (the "teammates") without any prior coordination or communication protocol. However, research in ad hoc teamwork is predominantly focused on agent-only teams, but not in agent-human teams, which we believe is an exciting research avenue and has enormous application potential in human-robot teams. This paper will tap into this potential by proposing HOTSPOT, the first framework for ad hoc teamwork in human-robot teams. Our framework comprises two main modules, addressing the two key challenges in the interaction between a robot acting as the ad hoc agent and human teammates. First, a <i>decision-theoretic module</i> that is responsible for all task-related decision making (task identification, teammate identification, and planning). Second, a <i>communication module</i> that uses natural language processing in order to parse all communication between the robot and the human. To evaluate our framework, we use a task where a mobile robot and a human cooperatively collect objects in an open space, illustrating the main features of our framework in a real-world task.

Cooperative Multi-Agent Systems in Mobile AD HOC Networks

MILCOM 2006 ◽  
2006 ◽  
Author(s):  
Joseph Macker ◽  
William Chao ◽  
Myriam Abramson ◽  
Ian Downard
Keyword(s):  
Ad Hoc Networks ◽  
Mobile Ad Hoc Networks ◽  
Ad Hoc ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent ◽  
Mobile Ad Hoc ◽  
Hoc Networks

Cooperative Localization of Vehicles in Three-Dimensional Space

2020 ◽  
Author(s):  
Juan Carlos Oliveros ◽  
Hashem Ashrafiuon
Keyword(s):  
Cooperative Control ◽  
Ad Hoc ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Euler Angle ◽  
Cooperative Localization ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Accurate Localization ◽  
Multi Agent

Abstract Effective trajectory planning and cooperative control of multi-agent systems require accurate localization of the agents to perform collaborative missions. Accurate localization may be achieved by Global Positioning System (GPS) and simultaneous localization and mapping. However, GPS signals and fixed features may not be readily available, particularly in remote and unstructured environments. Under these circumstances, Cooperative Localization (CL) has been proposed as a short-term solution that can significantly improve vehicle pose estimation. CL algorithms have been developed and tested mainly on mobile robots and planar vehicles due to complexities of three-dimensional (3D) motion. In this paper, we present a CL algorithm for multi-agent systems comprised of 3D vehicles. Each vehicle’s pose is represented by three position and three orientation variables. Quaternions are employed to represent orientation and avoid singularities associated with Euler angle. Vehicle kinematic velocity relations are used to model vehicle dynamics with respect to a fixed reference frame. It is assumed a vehicle can take relative pose measurements of other neighboring vehicles within an ad hoc network of agents. We then designate the observed as target vehicles and the observers as base vehicles and determine the linearized output matrix of the relative measurements for Extended Kalman Filter (EKF) application. Simulations are presented to discuss the advantages and shortcomings of the algorithm.

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