scholarly journals Interaction Protocols for Multi-Robot Systems in Industry 4.0

2021 ◽  
Author(s):  
Edi Moreira M. de Araujo ◽  
Augusto Loureiro da Costa ◽  
Alejandro R.G. Ramirez
Keyword(s):  
Comparative Study ◽  
Industry 4.0 ◽  
Communication Protocols ◽  
Multiple Robots ◽  
Limited Communication ◽  
Interaction Protocols ◽  
Robot Systems ◽  
Communication Reliability ◽  
Constrained Application Protocol ◽  
Multi Robot

In this chapter, the main methods of communication among multi-robot systems involved in Machine-to-Machine (M2M) applications, especially with regard the communication, reliability, stability and security among these robots, presenting various concepts through papers already published. A comparative study was carried out between two communication protocols applied in M2M technologies, the Queue Telemetry Transport (MQTT) developed by IBM along with Eurotech and the Constrained Application Protocol (CoAP). A study and survey of the characteristics of each of the protocols was carried out, as well as the method of operation of each of them and how both can be used in applications involving multiple robots. It was concluded that both protocols are considered ideal for use in in applications involving multi-robot systems. However, although the two protocols have been designed for application in environments with limited communication, the MQTT exchange protocol has advantages over CoAP, as a lower ovehead between message exchanges.

scholarly journals Modelling and verification of reconfigurable multi-agent systems

2021 ◽  
Vol 35 (2) ◽  
Author(s):  
Yehia Abd Alrahman ◽  
Nir Piterman
Keyword(s):  
Model Checking ◽  
Communication Protocols ◽  
Local State ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Robot Systems ◽  
Message Exchange ◽  
Multi Agent ◽  
Exchange Data ◽  
Multi Robot

AbstractWe propose a formalism to model and reason about reconfigurable multi-agent systems. In our formalism, agents interact and communicate in different modes so that they can pursue joint tasks; agents may dynamically synchronize, exchange data, adapt their behaviour, and reconfigure their communication interfaces. Inspired by existing multi-robot systems, we represent a system as a set of agents (each with local state), executing independently and only influence each other by means of message exchange. Agents are able to sense their local states and partially their surroundings. We extend ltl to be able to reason explicitly about the intentions of agents in the interaction and their communication protocols. We also study the complexity of satisfiability and model-checking of this extension.

A Multi-Robot System Using Mobile Agents with Ant Colony Clustering

2010 ◽  
pp. 174-192
Author(s):  
Yasushi Kambayashi ◽  
Yasuhiro Tsujimura ◽  
Hidemi Yamachi ◽  
Munehiro Takimoto
Keyword(s):  
Communication Networks ◽  
Mobile Agents ◽  
Software Agents ◽  
Ant Colony ◽  
Multiple Robots ◽  
Robot System ◽  
Mobile Software ◽  
Robot Systems ◽  
Ant Colony Clustering ◽  
Multi Robot

This chapter presents a framework using novel methods for controlling mobile multiple robots directed by mobile agents on a communication networks. Instead of physical movement of multiple robots, mobile software agents migrate from one robot to another so that the robots more efficiently complete their task. In some applications, it is desirable that multiple robots draw themselves together automatically. In order to avoid excessive energy consumption, we employ mobile software agents to locate robots scattered in a field, and cause them to autonomously determine their moving behaviors by using a clustering algorithm based on the Ant Colony Optimization (ACO) method. ACO is the swarm-intelligence-based method that exploits artificial stigmergy for the solution of combinatorial optimization problems. Preliminary experiments have provided a favorable result. Even though there is much room to improve the collaboration of multiple agents and ACO, the current results suggest a promising direction for the design of control mechanisms for multi-robot systems. In this chapter, we focus on the implementation of the controlling mechanism of the multi-robot system using mobile agents.

scholarly journals A Review on Map-Merging Methods for Typical Map Types in Multiple-Ground-Robot SLAM Solutions

Sensors ◽  
2020 ◽  
Vol 20 (23) ◽  
pp. 6988
Author(s):  
Shuien Yu ◽  
Chunyun Fu ◽  
Amirali K. Gostar ◽  
Minghui Hu
Keyword(s):  
Multiple Robots ◽  
Working Mechanism ◽  
Topological Maps ◽  
Occupancy Grid ◽  
Localization And Mapping ◽  
Robot Systems ◽  
Feature Based ◽  
Occupancy Grid Maps ◽  
Multi Robot ◽  
Map Merging

When multiple robots are involved in the process of simultaneous localization and mapping (SLAM), a global map should be constructed by merging the local maps built by individual robots, so as to provide a better representation of the environment. Hence, the map-merging methods play a crucial rule in multi-robot systems and determine the performance of multi-robot SLAM. This paper looks into the key problem of map merging for multiple-ground-robot SLAM and reviews the typical map-merging methods for several important types of maps in SLAM applications: occupancy grid maps, feature-based maps, and topological maps. These map-merging approaches are classified based on their working mechanism or the type of features they deal with. The concepts and characteristics of these map-merging methods are elaborated in this review. The contents summarized in this paper provide insights and guidance for future multiple-ground-robot SLAM solutions.

Building maps with Multi-Robot Systems under limited communication

2015 ◽  
Author(s):  
Jose Gilmar Nunes de Carvalho Filho ◽  
Jean-Marie Farines ◽  
Jose Eduardo Ribeiro Cury
Keyword(s):  
Limited Communication ◽  
Robot Systems ◽  
Multi Robot

Overview of Search and Rescue from Robotics to Wireless Sensors and Robots Networks

2016 ◽  
Vol 4 (2) ◽  
pp. 16-33 ◽  
Author(s):  
Sarah Allali ◽  
Mahfoud Benchaïba
Keyword(s):  
Wireless Sensors ◽  
Search And Rescue ◽  
Robotic Systems ◽  
Multiple Robots ◽  
Robot System ◽  
Research Challenges ◽  
Open Research ◽  
Robot Systems ◽  
Rescue System ◽  
Multi Robot

In the recent years, many researchers have shown interest in developing search and rescue system composed of one or multiple robots, which have the mission of finding victims and identifying the potential hazards. To enhance the robotic systems there is a growing trend of integrating wireless sensor networks (WSNs) to robots and multi-robot systems, which gives more awareness of the environments. In the first part of this article, the authors present a review of robotic system and their environments in search and rescue systems. Additionally, they explain challenges related to these systems and tasks that a robot or a multi-robot system should execute to fulfil the search and rescue activities. As a second part, the authors expose the system that integrates WSNs with robots and the advantages that brings this latter. In addition, they cite tasks and missions that are achieved in a better way with a cooperation of WSN and robots. Furthermore, the authors expose and discuss the remarkable research, challenges and the open research challenges that includes this cooperation.

Overview of Search and Rescue From Robotics to Wireless Sensors and Robots Networks

2019 ◽  
pp. 1212-1231
Author(s):  
Sarah Allali ◽  
Mahfoud Benchaïba
Keyword(s):  
Wireless Sensor Networks ◽  
Wireless Sensors ◽  
Search And Rescue ◽  
Wireless Sensor ◽  
Multiple Robots ◽  
Robot System ◽  
Research Challenges ◽  
Robot Systems ◽  
Rescue System ◽  
Multi Robot

In the recent years, many researchers have shown interest in developing search and rescue system composed of one or multiple robots, which have the mission of finding victims and identifying the potential hazards. To enhance the robotic systems there is a growing trend of integrating wireless sensor networks (WSNs) to robots and multi-robot systems, which gives more awareness of the environments. In the first part of this article, the authors present a review of robotic system and their environments in search and rescue systems. Additionally, they explain challenges related to these systems and tasks that a robot or a multi-robot system should execute to fulfil the search and rescue activities. As a second part, the authors expose the system that integrates WSNs with robots and the advantages that brings this latter. In addition, they cite tasks and missions that are achieved in a better way with a cooperation of WSN and robots. Furthermore, the authors expose and discuss the remarkable research, challenges and the open research challenges that includes this cooperation.

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.

Application of Multi-Robot Systems to Disaster-Relief Scenarios with Limited Communication

2016 ◽  
pp. 639-653 ◽  
Author(s):  
Jason Gregory ◽  
Jonathan Fink ◽  
Ethan Stump ◽  
Jeffrey Twigg ◽  
John Rogers ◽  
...  
Keyword(s):  
Disaster Relief ◽  
Limited Communication ◽  
Robot Systems ◽  
Multi Robot

Multi-Robot Systems

2012 ◽  
pp. 259-281
Keyword(s):  
Path Planning ◽  
Formation Control ◽  
Map Building ◽  
Multiple Robots ◽  
Robot Path Planning ◽  
Robotic Swarms ◽  
Robot Systems ◽  
Robot Task ◽  
Robot Path ◽  
Multi Robot

While the concepts of robotics and planning may be easily understood by the taking a single robot, it is not necessary that the problems we solve have a single robot in the planning scenario. In this chapter, the authors present systems with multiple robots, each robot attempts to coordinate and cooperate with the other robots for problem solving. The authors first look at the specific problems where multiple robots would be a boon for the system. This includes problems of maze solving, complete coverage, map building, and pursuit evasion. The inclusion of multiple robots in the scenario takes all the concepts of single robotic systems. It also introduces some new concepts and issues as well. They look into all these issues in the chapter which include optimality in terms of computational time and solution generated, completeness of planning, reaching a consensus, cooperation amongst multiple robots, and means of communication between robots for effective cooperation. These issues are highlighted by specific problems. The problems include multi-robot task allocation, robotic swarms, formation control with multiple robots, RoboCup, multi-robot path planning, and multi-robot area coverage and mapping. The authors specifically take the problem of multi-robot path planning, which is broadly classified under centralized and decentralized approaches. They discuss means by which algorithms for single robot path planning may be extended to the use of multiple robots. This is specifically done for the graph search, evolutionary, and behavioral approaches discussed in the earlier chapters of the book.

Exploration Strategies of Coordinated Multi-Robot System: A Comparative Study

2018 ◽  
Vol 7 (1) ◽  
pp. 48
Author(s):  
Ayman. El shenawy ◽  
Khalil. Mohamed ◽  
Hany. M. Harb
Keyword(s):  
Comparative Study ◽  
Process Performance ◽  
Basic Process ◽  
Robot System ◽  
Exploration Process ◽  
Coordination Strategy ◽  
System A ◽  
Environment Exploration ◽  
Robot Systems ◽  
Multi Robot

Environment Exploration is the basic process that most of Multi Robot Systems applications depend on it. The exploration process performance depends on the coordination strategy between the robots participating in the team.  In this paper the coordination of Multi Robot Systems in the exploration process is surveyed, and the performance of different Multi Robot Systems exploration strategies is contrasted and analyzed for different environments and different team sizes.

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