A distributed control architecture for autonomous mobile robots - implementation of the Karlsruhe Multi-Agent Robot Architecture (KAMARA)

Laengle, Thomas; Lueth, Tim C.; Rembold, Ulrich; Woern, Heinz

doi:10.1163/156855398x00271

Cited by 26 publications

(10 citation statements)

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“…Human-Robot collaboration using peer-to-peer approaches is a key research topic in robotics [31]. Laengle et al presents a human-robot team employing a multi-agent control architecture [32], where the mobile system consists of an overhead-camera and a two-arm-manipulator. A proactive collaboration based on the recognition of intentions is proposed in [33].…”

Section: State Of the Artmentioning

confidence: 99%

Systemic Approach for the Definition of a Safer Human-Robot Interaction

Pecora

Maiolo

Minotti

et al. 2019

Factories of the Future

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Smart factories must speed up their processes to face new manufacturing challenges and, at the same time, demonstrate an extremely high degree of flexibility to reduce production costs and time. This kind of issues can be addressed by the cooperation between humans and robots in a mixed human-robot working environment. Robots have the compelling advantage of spatial precision and repeatability as well as the capability of applying defined forces. Humans, on the other hand, are especially skilled at complex manipulations and adapting to changing task requirements. In this complicate scenario of co-shared workplace and continuous human-robot interaction, safety strategies are a key requirement to avoid possible injuries to humans or fatal accidents. This chapter proposes a systemic approach to respond to these requirements. The approach merges and manages multiple sensing sources, redundant transmission protocols and software decision mechanisms, aiming to guarantee a continuous and reconfigurable co-share scenario that enables an operative interaction between human workers and robots in a controlled and safe environment. Furthermore, new technological solutions and innovative methodologies are presented for the definition of a safer workplace in human-robot interaction scenarios. 8.1 Scientific and Industrial Motivations The need to face the production of complex families of product, with short life cycles, often characterized by strongly variable production patterns, requires factories to be able to quickly evolve and reconfigure [1]. These reconfigurable factories

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Section: State Of the Artmentioning

confidence: 99%

Systemic Approach for the Definition of a Safer Human-Robot Interaction

Pecora

Maiolo

Minotti

et al. 2019

Factories of the Future

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“…The planning and action components (heads of agents), as well as the overall agents, belong to one of the following three classes (types) 302 :…”

Section: Behavior-based Architecturesmentioning

confidence: 99%

Human and Nature Minding Automation

Tzafestas

2010

Intelligent Systems, Control and Automation: Science and Engineering

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this work may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, microfilming, recording or otherwise, without written permission from the Publisher, with the exception of any material supplied specifically for the purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work.Cover design: eStudio Calamar S.L. PrefaceMan is the best thing in the World. Nature does nothing uselessly. AristotleThere is a pleasure in the pathless woods, There is rapture on the lonely shore, There is society, where none intrudes, By the deep sea, and music in its roar: I love not Man the less, but Nature more. John BurroughsThe basic purpose of development is to enlarge people's choices. The objective of development is to create an enabling environment for people to enjoy long, healthy and creative lives. Mahbub ul Hag Founder of the Human Development ReportThe aim of this book is to provide a compiled set of concepts, principles, methods and issues used for studying, designing and operating human-minding and natureminding automation and industrial systems. The depth of presentation is sufficient for the reader to understand the problems involved and the solution approaches, and appreciate the need of human-automation cooperative interaction, and the importance of the efforts required for environment and ecosystem protection during any technological and development process in the society. Humans and technology are living and have to live together in a sustainable society and nature. Humans must not be viewed as components of automation and technology in the same way as machines. Automation and technology must incorporate the humans' needs and preferences, and radiate "beauty" in all ways, namely functionally, technically and humanistically. In overall, automation and technology should create comfort and give pleasure.The achievement of human-minding or human-centered automation was made possible by employing concepts and techniques of the human factors and ergonomics field. This is the easy part of the human-and nature minding-automation and technology story. To achieve truly nature-minding industry and automation, more complex and difficult decisions and tools are required. The partners here are not only the machines and the scientists or engineers, but also the politicians and vii viii Preface governors worldwide. Nature-minding design has to determine the way a product is produced on the basis of its impact to the nature and ecosystem, including pollution, waste generation, biodiversity decrease, and consumption of the earth resources. A society can be developed in a truly sustainable way if it adopts as a whole the human, economic, natural and cultural resources, not only in the short term but also in the long term. In our time the problems of human, automation/technology, and nature sustainable symbiosis have become more difficult and crucial than ever.This book provides a consolidated tutorial overview of the...

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“…Laengle et al [40] introduce KAMARA, a distributed control-architecture for controlling the different components of a complex robot. This architecture could arguably be applied to the multirobot coordination problem.…”

Section: Summary Of Prior Workmentioning

confidence: 99%

A Market Approach to Multirobot Coordination

Dias¹,

Stentz²

2000

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Public reporting burden for the collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of this collection of information, including suggestions for reducing this burden, to Washington Headquarters Services, Directorate for Information Operations and Reports, 1215 Jefferson Davis Highway, Suite 1204, Arlington VA 22202-4302. Respondents should be aware that notwithstanding any other provision of law, no person shall be subject to a penalty for failing to comply with a collection of information if it does not display a currently valid OMB control number. The problem of efficient multirobot coordination has risen to the forefront of robotics research in recent years. Interest in this problem is motivated by the wide range of application domains demanding multirobot solutions. In general, multirobot coordination strategies assume either a centralized approach where a single robot/agent plans for the group, or a distributed approach, where each robot is responsible for its own planning. Inherent to many centralized approaches are difficulties such as intractable solutions for large groups, sluggish response to changes in the local environment, heavy communication requirements, and brittle systems with single points of failure. The key advantage of centralized approaches is that they can produce globally optimal plans. While most distributed approaches can overcome the obstacles inherent to centralized approaches, they can only produce suboptimal plans. This work explores the development of a market-based architecture that will be inherently distributed, but will also opportunistically form centralized sub-groups to improve efficiency, and thus approach optimality. Robots will be self-interested agents, with the primary goal of maximizing individual profits. The revenue/cost models and rules of engagement will be designed so that maximizing individual profit has the benevolent effect of moving the team toward the globally optimal solution. This architecture will inherit the flexibility of market-based approaches in allowing cooperation and competition to emerge opportunistically. The outlined approach will address the multirobot control problem for autonomous robotic colonies carrying out complex tasks in dynamic environments where it is highly desirable to optimize to whatever extent possible. Future work will develop the core components of a market-based multirobot control-architecture, investigate the use of a negotiation protocol for task distribution, design and implement resource and role management schemes, and apply optimization techniques to improve system performance. The automated robot colonies domain is targeted for implementation and evaluation of the architecture. Portability of the architecture to other application domains will also be illustr...

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A distributed control architecture for autonomous mobile robots - implementation of the Karlsruhe Multi-Agent Robot Architecture (KAMARA)

Cited by 26 publications

References 8 publications

Systemic Approach for the Definition of a Safer Human-Robot Interaction

Systemic Approach for the Definition of a Safer Human-Robot Interaction

Human and Nature Minding Automation

A Market Approach to Multirobot Coordination

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