Multi-robot deployment and coordination with Embedded Graph Grammars

Smith, Brenda; Howard, Ayanna M.; McNew, John-Michael; Wang, Jiuguang; Egerstedt, Magnus

doi:10.1007/s10514-008-9107-6

Cited by 37 publications

(25 citation statements)

References 19 publications

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“…Later Becker et al (2006) extend the approach to develop a verification technique for arbitrarily large multi-agent systems in mechatronics. Smith et al (2009) use embedded graph grammars to deploy and coordinate robots (agents) in various (physical) formations. They introduce an agreement protocol for agents to agree mutually before applying a production rule.…”

Section: Introductionmentioning

confidence: 99%

Hunting in the dark by a peregrine falcon (Falco peregrinus)

Hirata¹,

Nakahama²,

Yoshioka³

2014

Slovak Raptor Journal

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Section: Introductionmentioning

confidence: 99%

Hunting in the dark by a peregrine falcon (Falco peregrinus)

Hirata¹,

Nakahama²,

Yoshioka³

2014

Slovak Raptor Journal

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“…[8] describes a set of graph grammar rules over fixed-order graphs that can be used to achieve self-configuring adaptable software architectures. A similar approach for coordinating multi-robot systems where robots are represented by graph vertices is proposed in [9]. The graphs, which are shared by all the robots of the system, are also of fixed order.…”

Section: State Of the Artmentioning

confidence: 99%

A Perception-aware Architecture for Autonomous Robots

Manso

Bustos

Bachiller

et al. 2015

Int. j. adv. robot. syst.

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Service robots are required to operate in indoor environments to help humans in their daily lives. To achieve the tasks that they might be assigned, the robots must be able to autonomously model and interact with the elements in it. Even in homes, which are usually more predictable than outdoor scenarios, robot perception is an extremely challenging task. Clutter, distance and partial views complicate modelling the environment, making it essential for robots to approach the objects to perceive in order to gain favourable points of view. This article proposes a novel grammar-based distributed architecture, designed with reusability and scalability in mind, which enables robots not only to find and execute the perception-aware plans they need to achieve their goals, but also to verify that the world representation they build is valid according to a set of grammatical rules for the world model. Additionally, it describes a real-world example of use, providing qualitative results, in which a robot successfully models the room in which it is located and finds a coffee mug.

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“…A wide variety of techniques have been and continue to be explored, drawing on work in control theory, robotics, and biology [2] and applicable for robotic applications throughout land, sea, air, and space. Notable work in this area includes the use of leader-follower techniques, in which follower robots control their position relative to a designated leader [3], [4]. A variant of this is leader-follower chains, in which follower robots control their position relative to one or more local leaders, which, in turn, are following other local leaders in a network that ultimately is led by a designated leader [5].…”

Section: Introductionmentioning

confidence: 99%

Dynamic Control of Mobile Multirobot Systems: The Cluster Space Formulation

Mas

Kitts

2014

IEEE Access

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The formation control technique called cluster space control promotes simplified specification and monitoring of the motion of mobile multirobot systems of limited size. Previous paper has established the conceptual foundation of this approach and has experimentally verified and validated its use for various systems implementing kinematic controllers. In this paper, we briefly review the definition of the cluster space framework and introduce a new cluster space dynamic model. This model represents the dynamics of the formation as a whole as a function of the dynamics of the member robots. Given this model, generalized cluster space forces can be applied to the formation, and a Jacobian transpose controller can be implemented to transform cluster space compensation forces into robot-level forces to be applied to the robots in the formation. Then, a nonlinear model-based partition controller is proposed. This controller cancels out the formation dynamics and effectively decouples the cluster space variables. Computer simulations and experimental results using three autonomous surface vessels and four land rovers show the effectiveness of the approach. Finally, sensitivity to errors in the estimation of cluster model parameters is analyzed. INDEX TERMSCluster space, multirobot systems, dynamic control, formation control, marine robotics.

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Multi-robot deployment and coordination with Embedded Graph Grammars

Cited by 37 publications

References 19 publications

Hunting in the dark by a peregrine falcon (Falco peregrinus)

Hunting in the dark by a peregrine falcon (Falco peregrinus)

A Perception-aware Architecture for Autonomous Robots

Dynamic Control of Mobile Multirobot Systems: The Cluster Space Formulation

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