Exploration and mapping with autonomous robot teams

Olson, Edwin; Strom, Johannes; Goeddel, Rob; Morton, Ryan; Ranganathan, Pradeep; Richardson, Andrew

doi:10.1145/2428556.2428574

Cited by 28 publications

(12 citation statements)

References 9 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This is not a novel concept, rather, this is a fundamental aspect of decision theory (Bernoulli 1954;Pascal and Krailsheimer 1968;Lehmann 1950). Inclusion of the principle of confidence was inspired by prior work on sensor fusion and HAI that has shown how multiple, disparate sensor systems with sometimes substantial uncertainty could be integrated to yield reliable decisions (Olson et al 2013;Tsiligkaridis, Sadler, and Hero 2014).…”

Section: The Principle Of Confidencementioning

confidence: 99%

The privileged sensing framework: A principled approach to improved human-autonomy integration

Marathe

Metcalfe

Lance

et al. 2018

Theoretical Issues in Ergonomics Science

View full text Add to dashboard Cite

A primary goal for human-autonomy integration (HAI) is to balance the strengths of human and autonomy in order to achieve performance objectives more efficiently and robustly than either the human or autonomous agents would independently. This paper proposes the Privileged Sensing Framework (PSF) as a novel approach to HAI. This approach is based on the concept of dynamically 'privileging' information during the process of integration by dynamically bestowing special rights based on the characteristics of each individual agent, the task context, and the performance goals. The proposed framework is tested through a series of simulation experiments that provide a clear demonstration of increased accuracy and throughput of human-autonomy performance. These proof-of-concept simulations provide initial evidence of the utility of the PSF. Continued development of this approach has the potential to revolutionise capabilities of multiagent cooperative teams across a broad range of applications.

show abstract

Section: The Principle Of Confidencementioning

confidence: 99%

The privileged sensing framework: A principled approach to improved human-autonomy integration

Marathe

Metcalfe

Lance

et al. 2018

Theoretical Issues in Ergonomics Science

View full text Add to dashboard Cite

show abstract

“…The Multi Autonomous Ground‐robotic International Challenge (MAGIC) is a multirobot competition, in which the robotics teams were requested to explore and map large indoor and outdoor environments while identifying and neutralizing threats. MAGIC was funded by the Australian Department of Defence and the U.S. Army, and the robotic teams were pursuing more than $1 million in prize money (Olson et al., ).…”

Section: Background On Multiple‐robot Slammentioning

confidence: 99%

Multiple-Robot Simultaneous Localization and Mapping: A Review

et al. 2015

View full text Add to dashboard Cite

Simultaneous localization and mapping (SLAM) in unknown GPS‐denied environments is a major challenge for researchers in the field of mobile robotics. Many solutions for single‐robot SLAM exist; however, moving to a platform of multiple robots adds many challenges to the existing problems. This paper reviews state‐of‐the‐art multiple‐robot systems, with a major focus on multiple‐robot SLAM. Various issues and problems in multiple‐robot SLAM are introduced, current solutions for these problems are reviewed, and their advantages and disadvantages are discussed.

show abstract

“…Our test platform was a robotic team previously designed for urban reconnaissance [18]. Because we are targeting the performance of single network links, we performed our evaluation with a single mobile robot and stationary ground station.…”

Section: A Test Apparatusmentioning

confidence: 99%

Adaptive forward error correction with adjustable-latency QoS for robotic networks

Marcotte

Olson

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

Self Cite

View full text Add to dashboard Cite

Mobile robotic teams require robust communication in order to coordinate effectively, which is a challenge given the dynamic, unpredictable nature of mobile ad hoc networks (MANET). These networks are subject to rapidly varying link qualities as robots move through their environment. Improving the robustness of these point-to-point links leads to greater overall network performance, which in turn allows the robots to perform their mission more effectively.In this work, we present a forward error correction (FEC) technique that exploits latency tolerance in network traffic to provide consistent packet delivery performance even on lowquality links. Our proposed system estimates link quality based on recent packet reception history and uses that estimate to determine FEC encoding strength. Furthermore, this system provides a novel Quality of Service (QoS) mechanism that trades latency tolerance for more reliable, lower overhead transmission. We evaluate the effectiveness of this technique in a real-world robotic testbed.

show abstract

Exploration and mapping with autonomous robot teams

Cited by 28 publications

References 9 publications

The privileged sensing framework: A principled approach to improved human-autonomy integration

The privileged sensing framework: A principled approach to improved human-autonomy integration

Multiple-Robot Simultaneous Localization and Mapping: A Review

Adaptive forward error correction with adjustable-latency QoS for robotic networks

Contact Info

Product

Resources

About