Dynamic task allocation in cooperative robot teams

Tsalatsanis, Athanasios; Yalçin, Ali; Valavanis, Kimon P.

doi:10.1017/s0263574711000920

Cited by 27 publications

(5 citation statements)

References 52 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Например, логические ДСС и ТСУ в настоящее время широко используются в робототехнике. Публикации в этой области касаются управления одиночными роботами [7,8], группами роботов [9][10][11], формациями роботов [12] и их роями [13,14]. Несмотря на интенсивные исследования, проводимые с 1980-х годов, многие задачи ТСУ ожидают новых подходов к их решению, что связано со сложностью реализации известных алгоритмов исследования и построения ДСС, особенно частично наблюдаемых, децентрализованных или распределенных.…”

Section: Introductionunclassified

On the application of the calculus of positively constructed formulas for the study of controlled discrete-event systems

Davydov,

Larionov,

Nagul

2024

Model. anal. inf. sist.

View full text Add to dashboard Cite

The article is devoted to the development of an approach to solving the main problems of the theory of supervisory control of logical discrete-event systems (DES), based on their representation in the form of positively constructed formulas (PCF). We consider logical DESs in automata form, understood as generators of some regular languages. The PCF language is a complete first-order language, the formulas of which have a regular structure of alternating type quantifiers and do not contain a negation operator in the syntax. It was previously proven that any formula of the classical first-order predicate calculus can be represented as a PCF. PCFs have a visual tree representation and a natural question-and-answer procedure for searching for an inference using a single inference rule. It is shown how the PCF calculus, developed in the 1990s to solve some problems of control of dynamic systems, makes it possible to solve basic problems of the theory of supervisory control, such as checking the criteria for the existence of supervisory control, automatically modifying restrictions on the behavior of the controlled system, and implementing a supervisor. Due to some features of the PCF calculus, it is possible to use a non-monotonic inference. It is demonstrated how the presented PCF-based method allows for additional event processing during inference. The Bootfrost software system, or the so-called prover, designed to refute the obtained PCFs is also presented, and the features of its implementation are briefly described. As an illustrative example, we consider the problem of controlling an autonomous mobile robot.

show abstract

Section: Introductionunclassified

On the application of the calculus of positively constructed formulas for the study of controlled discrete-event systems

Davydov,

Larionov,

Nagul

2024

Model. anal. inf. sist.

View full text Add to dashboard Cite

show abstract

“…The majority of robots require human operators to remotely guide them in searching for victims, however, this can be a very stressful task, which causes cognitive and physical fatigue to operators during time-critical situations. Semi-autonomous control schemes [4][5][6][7] for robotic exploration in SAR operations have been proposed to address the limitations of both teleoperation and constant human supervision, but require demanding technical supports, such as path planning, autonomous navigation, task allocation, decisionmaking and victim identification [8]. Furthermore, implementing ground rescue robots in hard-to-reach areas is a hard problem due to difficult terrains, such as mountains, rivers and lakes.…”

Section: Introductionmentioning

confidence: 99%

Frequency Variability Feature for Life Signs Detection and Localization in Natural Disasters

2021

View full text Add to dashboard Cite

The locations and breathing signal of people in disaster areas are significant information for search and rescue missions in prioritizing operations to save more lives. For detecting the living people who are lying on the ground and covered with dust, debris or ashes, a motion magnification-based method has recently been proposed. This current method estimates the locations and breathing signal of people from a drone video by assuming that only human breathing-related motions exist in the video. However, in natural disasters, background motions, such as swing trees and grass caused by wind, are mixed with human breathing, that distort this assumption, resulting in misleading or even no life signs locations. Therefore, the life signs in disaster areas are challenging to be detected due to the undesired background motions. Note that human breathing is a natural physiological phenomenon, and it is a periodic motion with a steady peak frequency; while background motion always involves complex space-time behaviors, their peak frequencies seem to be variable over time. Therefore, in this work we analyze and focus on the frequency properties of motions to model a frequency variability feature used for extracting only human breathing, while eliminating irrelevant background motions in the video, which would ease the challenge in detection and localization of life signs. The proposed method was validated with both drone and camera videos recorded in the wild. The average precision measures of our method for drone and camera videos were 0.94 and 0.92, which are higher than that of compared methods, demonstrating that our method is more robust and accurate to background motions. The implications and limitations regarding the frequency variability feature were discussed.

show abstract

“…Indeed, SCT is actively utilized in robotics nowadays. Recent publications in this area concern single robot control [11], [12], robot groups control [13], [14], [15], robots formation control [16], and swarm robotics [17], [18]. On the other hand, the inference search machines, implemented at a robot control system, are applied to represent and process the knowledge obtained during the robot functioning.…”

Section: Introductionmentioning

confidence: 99%

Logic inference based construction of a supervisor for a discrete event system

Davydov¹,

Larionov²,

Nagul³

2020

The International Workshop on Information, Computation, and Control Systems for Distributed Environments

View full text Add to dashboard Cite

The paper provides a general view on the original logical inference based approach to dealing with discrete event systems as subject to supervisory control theory. The approach proposes a representation of automata-based discrete event system as a positively constructed formula and implementation of the calculus of positively constructed formulas. The stages of a supervisor construction are illustrated with a simplified model of an autonomous underwater vehicle operational modes switching. The supremal controllable sublanguage of the specification and the supervisor are constructed.

show abstract

Dynamic task allocation in cooperative robot teams

Cited by 27 publications

References 52 publications

On the application of the calculus of positively constructed formulas for the study of controlled discrete-event systems

On the application of the calculus of positively constructed formulas for the study of controlled discrete-event systems

Frequency Variability Feature for Life Signs Detection and Localization in Natural Disasters

Logic inference based construction of a supervisor for a discrete event system

Contact Info

Product

Resources

About