Mission specification and control for unmanned aerial and ground vehicles for indoor target discovery and tracking

Ulam, Patrick D.; Kira, Zsolt; Arkin, Ronald C.; Collins, Thomas R.

doi:10.1117/12.849842

Cited by 7 publications

(3 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…It has good scalability to adapt to different tasks by adjusting the number and types of robots in the system [2,3]. Multi-robot systems can replace humans to complete tasks such as information collection [3,4], target pursuing [3][4][5][6], target capture [7,8], etc. There is usually a certain degree of a confrontation relationship between the targets and the multi-robot system during tasks.…”

Section: Introductionmentioning

confidence: 99%

Research on the Multi-Robot Cooperative Pursuit Strategy Based on the Zero-Sum Game and Surrounding Points Adjustment

Chen

et al. 2021

Machines

View full text Add to dashboard Cite

Making full use of the cooperation of multi-robots can improve the success rate of apursuit task. Therefore, this paper proposes a multi-robot cooperative pursuit strategy based on the zero-sum game and surrounding points adjustment. First, a mathematical description of the multi-robot pursuit problem is constructed, and the zero-sum game model is established considering the cooperation of the pursuit robots and the confrontation between the pursuit robots and the escape robot. By solving the game model, the optimal movement strategies of the pursuit robots and the escape robot are obtained. Then, the position adjustment method of the pursuit robots is studied based on the Hungarian algorithm, and the pursuit robots are controlled to surround the escape robot. Based on this, a multi-robot cooperative pursuit strategy is proposed that divides the pursuit process into two stages: pursuit robot position adjustment and game pursuit. Finally, the correctness and effectiveness of the multi-robot cooperative pursuit strategy are verified with simulation experiments. The multi-robot cooperative pursuit strategy allows the pursuit robots to capture the escape robot successfully without conflicts among the pursuit robots. It can be seen from the documented simulation experiments that the success rate of the pursuit task using the strategy proposed in this paper is 100%.

show abstract

Section: Introductionmentioning

confidence: 99%

Research on the Multi-Robot Cooperative Pursuit Strategy Based on the Zero-Sum Game and Surrounding Points Adjustment

Chen

et al. 2021

Machines

View full text Add to dashboard Cite

show abstract

“…These in turn communicate high-level symbolic concepts along with a robot identification (id) and target location couched in an egocentric or allocentric (landmark-centered) frame of reference. For MAST we have considered a range of mission scenarios in the past [14] but the specific mission considered for the research in this paper involves multi-robot search, detection, and operator alert for possible biohazards or chemical weapons within an interior structure using teams of microflyers and crawlers equipped with highly disparate and somewhat esoteric sensor suites.…”

Section: Introductionmentioning

confidence: 99%

Architectural design and support for knowledge sharing across heterogeneous MAST systems

2012

Self Cite

View full text Add to dashboard Cite

A novel approach for the sharing of knowledge between widely heterogeneous robotic agents is presented, drawing upon Gardenfors Conceptual Spaces approach [4]. The target microrobotic platforms considered are computationally, power, sensor, and communications impoverished compared to more traditional robotics platforms due to their small size. This produces novel challenges for the system to converge on an interpretation of events within the world, in this case specifically focusing on the task of recognizing the concept of a biohazard in an indoor setting.

show abstract

“…; a particular item, aspect, calculation, etc., in such a description; a detailed precise presentation of something or of a plan or proposal for something; a document describing how some system should work (Specification, 2011). In the scope of robotic systems this term is used to name a process of robot's task definition -mission specification (Ulam et al, 2010;Endo et al, 2004). Others use the term to declare detailed formal description of robot controllers (Zieliński, Winiarski, 2010).…”

Section: Definition Of Multi-robot System Specificationmentioning

confidence: 99%

Procedure for resolving specification optimization task of heterogeneous robot colony

Komašilovs¹

View full text Add to dashboard Cite

PhD thesis was developed at the Department of Computer Systems of Latvia University of Agriculture during the period from September 2009 through February 2013. The PhD thesis consists of 194 pages, comprising 8 tables, 39 pictures, 17 formulae, 4 annexes. 247 literature sources were used. The goal of the PhD thesis is to improve the specification development for heterogeneous multi-robot systems during design stage by analyzing the full solution domain instead of testing only a part of possible solutions. In order to achieve the goal of the thesis the list of objectives were defined as follows: 1. perform analysis of specification development methods applied for heterogeneous multi-robot systems; 2. define specification optimization task and its solution concept for heterogeneous multi-robot systems; 3. develop the procedure for finding optimal specification of heterogeneous multi-robot system in full solution domain; 4. develop mission definition technique and its decomposition approach for heterogeneous multi-robot systems; 5. perform the analysis of the size of feasible solution domain of the specification optimization task; 6. implement and experimentally test heuristic search algorithm for initial evaluation of specifications of multi-robot system; 7. analyze possibility to use simulation techniques for fine evaluation of specification of multi-robot system. The content of PhD thesis is structured according to the goal and the tasks of PhD thesis consisting of 6 sections. Section I gives a general overview of multi-robot systems, discusses the state-of-the-art of the multi-robot research domain and indicates specification selection problem for the heterogeneous multi-robot system. Section II defines specification optimization task for multi-robot system, describes the concepts used for optimization and gives an overview of specification optimization procedure developed within the thesis. Section III describes the first and the second steps of the specification optimization procedure, defines mission decomposition approach into components and tasks. Section IV refers to the third and the fourth steps of the specification optimization procedure, provides analysis of the domain of feasible solutions, defines formulas for estimating the size of the domain, and introduces CaMBot-Gen software used for the analysis. Section V refers to the fifths step of the procedure and defines initial evaluation of solution candidates using heuristic methods, introduces GAMBot-Eva software implementation of genetic algorithm based heuristic search, describes development of genetic representation of the solution domain, and defines the model for the estimation of total costs of ownership.

show abstract

Mission specification and control for unmanned aerial and ground vehicles for indoor target discovery and tracking

Cited by 7 publications

References 11 publications

Research on the Multi-Robot Cooperative Pursuit Strategy Based on the Zero-Sum Game and Surrounding Points Adjustment

Research on the Multi-Robot Cooperative Pursuit Strategy Based on the Zero-Sum Game and Surrounding Points Adjustment

Architectural design and support for knowledge sharing across heterogeneous MAST systems

Procedure for resolving specification optimization task of heterogeneous robot colony

Contact Info

Product

Resources

About