Efficient Cooperation of Heterogeneous Robotic Agents: A Decentralized Framework

Logothetis, Michalis; Karras, George C.; Alevizos, Konstantinos; Verginis, Christos K.; Roque, Pedro; Roditakis, Konstantinos; Makris, Alexandros; García, Sergio; Schillinger, Philipp; Fava, Alessandro Di; Argyros, Antonis A.; Kyriakopoulos, Kostas J.; Dimarogonas, Dimos V.

doi:10.1109/mra.2021.3064761

Cited by 7 publications

(1 citation statement)

References 18 publications

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“…Haldane et al [13] undertake joint locomotion and perception tasks by legged robots of varying sizes and capabilities. There is also work dealing with multi-task collaboration scenarios involving a variety of heterogeneous robots and humans [25]. Our research focuses on improving collaboration within any team, irrespective of the diversity in capabilities, policies, and team size.…”

Section: A Heterogeneous Multi-agent Tasksmentioning

confidence: 99%

Cohort Profile: Beijing Healthy Aging Cohort(BHACS)

Liu

Yang

Wang

et al. 2023

Preprint

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BHACS was established to fill the lack of a large representative cohort of the elderly based on general populations and was designed to evaluate the prevalence, incidence, and natural history of cognitive decline, functional disability, and conventional vascular risk factors. The objectives were to determine the evolution of those diseases by estimating rates and impact factors of progression and reversion to adverse outcomes including dementia, cardiovascular events, cancer, and all-cause death. Therefore, it can provide evidence to help policy-makers develop better policies to promote healthy aging in China. BHACS was formed by three cohorts in Beijing with a total population of 11 235 (6281 in urban, 4954 in rural), the baseline survey time and follow-up time differed between the three. BLSA was followed up in 2014 with the baseline survey completed in 2009; CCHS-Beijing was followed up twice in 2015-2016 and 2018-2019 as its baseline survey was performed in 2013-2015; BECHCS was followed up every two or three years with the baseline investigation completed in 2010-2014. Data were collected using questionnaires, physical measurements, and laboratory analysis. Topics of BHACS include numerous physical and mental health indicators, living habits, and personal, familial, and socio-economic health determinants. There is no immediate plan to make the cohort data freely available in the public domain, specific proposals for further collaboration are welcome.

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Section: A Heterogeneous Multi-agent Tasksmentioning

confidence: 99%

Cohort Profile: Beijing Healthy Aging Cohort(BHACS)

Liu

Yang

Wang

et al. 2023

Preprint

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Simulation Model of the Decentralized Control of Autonomous Software Agents’ Teams and Mobile Robots

Pshenokova,

Anchokov,

Kankulov

et al. 2024

Studies in Computational Intelligence

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Software variability in service robotics

et al. 2022

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Robots artificially replicate human capabilities thanks to their software, the main embodiment of intelligence. However, engineering robotics software has become increasingly challenging. Developers need expertise from different disciplines as well as they are faced with heterogeneous hardware and uncertain operating environments. To this end, the software needs to be variable—to customize robots for different customers, hardware, and operating environments. However, variability adds substantial complexity and needs to be managed—yet, ad hoc practices prevail in the robotics domain, challenging effective software reuse, maintenance, and evolution. To improve the situation, we need to enhance our empirical understanding of variability in robotics. We present a multiple-case study on software variability in the vibrant and challenging domain of service robotics. We investigated drivers, practices, methods, and challenges of variability from industrial companies building service robots. We analyzed the state-of-the-practice and the state-of-the-art—the former via an experience report and eleven interviews with two service robotics companies; the latter via a systematic literature review. We triangulated from these sources, reporting observations with actionable recommendations for researchers, tool providers, and practitioners. We formulated hypotheses trying to explain our observations, and also compared the state-of-the-art from the literature with the-state-of-the-practice we observed in our cases. We learned that the level of abstraction in robotics software needs to be raised for simplifying variability management and software integration, while keeping a sufficient level of customization to boost efficiency and effectiveness in their robots’ operation. Planning and realizing variability for specific requirements and implementing robust abstractions permit robotic applications to operate robustly in dynamic environments, which are often only partially known and controllable. With this aim, our companies use a number of mechanisms, some of them based on formalisms used to specify robotic behavior, such as finite-state machines and behavior trees. To foster software reuse, the service robotics domain will greatly benefit from having software components—completely decoupled from hardware—with harmonized and standardized interfaces, and organized in an ecosystem shared among various companies.

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Efficient Cooperation of Heterogeneous Robotic Agents: A Decentralized Framework

Cited by 7 publications

References 18 publications

Cohort Profile: Beijing Healthy Aging Cohort(BHACS)

Cohort Profile: Beijing Healthy Aging Cohort(BHACS)

Simulation Model of the Decentralized Control of Autonomous Software Agents’ Teams and Mobile Robots

Software variability in service robotics

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