A multi-robot platform for mobile robots &amp;#x2014; A novel evaluation and development approach with multi-agent technology

Rockel, Sebastian; Klimentjew, Denis; Zhang, Jianwei

doi:10.1109/mfi.2012.6343020

Cited by 10 publications

(9 citation statements)

References 13 publications

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“…This image shows four tested poses with the robot in front of a table holding graspable objects. household database 6 . We then tried many different evaluation strategies.…”

Section: A Object Recognitionmentioning

confidence: 99%

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An hyperreality imagination based reasoning and evaluation system (HIRES)

Rockel¹,

Klimentjew²,

Zhang³

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-In this work we ask whether an integrated system based on the concept of human imagination and realized as a hyperreal setup can improve system robustness and autonomy. In particular we focus on how non-nominal failures in a planning-based system can be detected before actual failure. To investigate, we integrated a system combining an accurate physics-based simulation, robust object recognition and a symbolic planner to achieve realistic prediction of robot actions. A Gazebo simulation was used to reason about and evaluate situations before and during plan execution. The simulation enabled re-planning to take place in advance of actual plan failure. We present a restaurant scenario in which our system prevents plan failure and successfully lets the robot serve a drink on a table cluttered with objects. The results give us confidence in our approach to improving situations where unavoidable abstractions of robot action planning meet the real world.

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“…This image shows four tested poses with the robot in front of a table holding graspable objects. household database 6 . We then tried many different evaluation strategies.…”

Section: A Object Recognitionmentioning

confidence: 99%

“…It originates from semiotics and postmodern philosophy and is considered the condition where an agent cannot distinguish reality from a simulation of reality. Therefore reality and virtual reality can be considered interchangeable (referred to in our previous work as Mixed Reality [6], [7]), as can human and artificial intelligence [4].…”

Section: Introductionmentioning

confidence: 99%

An hyperreality imagination based reasoning and evaluation system (HIRES)

Rockel¹,

Klimentjew²,

Zhang³

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

Self Cite

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“…However, analyzing the scientific literature, it is possible to notice that there are few studies address the integration between MAS and MRS (see Arai et al ., 2002; Ota 2006; Rockel et al . 2012). Therefore, to help to fill this gap, this paper presents a proposal for this interdisciplinary integration.…”

Section: Introductionmentioning

confidence: 99%

“…Rockel et al . (2012) created a three-layer architecture connecting MRS and MAS using a new middle layer called Robot System Abstraction Layer. The main idea considered in this paper is to combine a high-level MAS with a MRS.…”

Section: Introductionmentioning

confidence: 99%

Toward an interdisciplinary integration between multi-agents systems and multi-robots systems: a case study

Botelho

Marietto

Mendes

et al. 2020

The Knowledge Engineering Review

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Multi-Robot System (MRS) is composed of a group of robots that work cooperatively. However, Multi-Agent System (MAS) is computational systems consisting of a group of agents that interact with each other to solve a problem. The central difference between MRS and MAS is that in the first case, the agent is a robot, and in the second, it is a software. Analyzing the scientific literature, it is possible to notice that few studies address the integration between MAS and MRS. In order to achieve the interdisciplinary integration, the theoretical background of these areas must be considered in this paper, so that the integration can be applied using a case study of decentralized MRS. The objective of this MRS is to track and surround a stationary target. Also, it has been implemented and validated in the robot simulator called Virtual Robot Experimentation Platform (V-REP). In the validation of the proposed MRS, a scenario with three robots and a stationary target were defined. In the tracking task, the robot can detect the target whose position is not known a priori. When the detection occurs, the V-REP informs the target position to the robot because the environment is discretized into a grid of rectangular cells. After that, all the robots are directed to the target, and the surround task is realized. In this task, a mathematical model with direct communication between the robots was used to keep the robots equidistant therefrom and from each other.

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“…Behaviour-based multi-agent architectures improve the rapid online decision-making ability of a robot by decomposing a system into subsystems with taskachieving behaviours [22,39]. Multi-agent architectures for service-oriented unmanned vehicle applications are generally platform oriented, leading to varied architectures for the same applications [13][14][15]31,33,40]. Algorithms for serviceoriented unmanned vehicle applications are generalized and it is possible to use these algorithms on various platforms irre-spective of the details of their implementations.…”

Section: Introductionmentioning

confidence: 99%

Interoperable multi-agent framework for unmanned aerial/ground vehicles: towards robot autonomy

Arokiasami

Vadakkepat

Tan

et al. 2016

Complex Intell. Syst.

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Multi-agent architectures for autonomous robots are generally mission and platform oriented. Autonomous robots are commonly employed in patrolling, surveillance, search and rescue and human-hazardous missions. Irrespective of the differences in unmanned aerial and ground robots, the algorithms for obstacle detection and avoidance, path planning and path-tracking can be generalized. Service-oriented interoperable framework for robot autonomy (SOIFRA) proposed in this paper is an interoperable multi-agent framework focusing on generalizing platformindependent algorithms for unmanned aerial and ground vehicles. As obstacle detection and avoidance are standard requirements for autonomous robot operation, platformindependent collision avoidance algorithms are incorporated into SOIFRA. SOIFRA is behaviour based and is interoperable across unmanned aerial and ground vehicles. Obstacle detection and avoidance are performed utilizing computer vision-based algorithms, as these are generally platform independent. Obstacle detection is achieved utilizing Hough transform, Canny contour and Lucas-Kanade sparse optical flow algorithm. Collision avoidance performed utilizing optical flow-based and expansion of object-based time-tocontact demonstrates SOIFRA's modularity. Experiments performed, utilizing TurtleBot, Clearpath Robotics Husky, AR Drone and Hector-quadrotor, establish SOIFRA's interoperability across several robotic platforms.

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A multi-robot platform for mobile robots — A novel evaluation and development approach with multi-agent technology

Cited by 10 publications

References 13 publications

An hyperreality imagination based reasoning and evaluation system (HIRES)

An hyperreality imagination based reasoning and evaluation system (HIRES)

Toward an interdisciplinary integration between multi-agents systems and multi-robots systems: a case study

Interoperable multi-agent framework for unmanned aerial/ground vehicles: towards robot autonomy

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