Self-adaptation for Mobile Robot Algorithms Using Organic Computing Principles

Hartmann, Jan; Stechele, Walter; Maehle, Erik

doi:10.1007/978-3-642-36424-2_20

Cited by 4 publications

(3 citation statements)

References 16 publications

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“…Initial experiments using a similar VSLAM system have been presented in [10] where only the software reconfiguration was evaluated. Generally, the following values have been used in the conditions, i. e. to gain information about the state of the robot and environment:…”

Section: Resultsmentioning

confidence: 99%

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Self-reconfigurable control architecture for complex mobile robots

Frost

Stechele

Maehle

2015

It - Information Technology

Self Cite

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Advanced mobile robot systems need to accomplish increasingly complex task sets. However, to solve demanding problems, they are typically optimized to a very restricted set of tasks and environments. This work will therefore propose a self-reconfigurable software and hardware architecture to allow the dynamic optimization of a robot system depending on the current situation, i. e. the current task, the robot inner state, and the environment. The proposed framework is based on organic computing principles and unsupervised machine learning techniques. It further uses dynamically reconfigurable Field Programmable Gate Arrays (FPGA) as hardware accelerators. Preliminary results will be presented, which demonstrate the feasibility of the self-reconfiguration approach.

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Section: Resultsmentioning

confidence: 99%

“…At this stage, the system runs on a consumer notebook, thus no FPGA acceleration has yet been used. The presented results were initially shown in [10].…”

Section: Discussionmentioning

confidence: 98%

Self-reconfigurable control architecture for complex mobile robots

Frost

Stechele

Maehle

2015

It - Information Technology

Self Cite

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“…The original observer/controller pattern proposed in [46] employed a rule-based approach to decision making, augmented by several computation models dedicated to modifying the rules. In addition, many other works [47,48,49] employed a similar rule-based approach.…”

Section: Control Mechanisms and The Observer/controller Patternmentioning

confidence: 99%

Macrophage+: a Game With a Purpose for Applying Human Intelligence in Control Mechanisms

et al. 2020

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Originally, control mechanisms were proposed to replace the need for human intervention in operational environments, and thus, enhance the precision and reaction time. Nowadays, new requirements in computer systems such as adaptation have made the design of control mechanisms more challenging. The Observer/Controller pattern is one of the control mechanisms proposed to control many interacting independent elements by making intelligent decisions. An important challenge in designing these mechanisms is that the knowledge needed for decision making is provided by experts; therefore, the process becomes time consuming and costly, depending on the availability of experts and their costs. In this paper, we hypothesize that employing a Game With A Purpose can help to improve the process of providing knowledge in such control mechanisms by using crowd-sourcing and involving non-expert humans in an enjoyable manner. This hypothesis has been investigated by Macro-phage+, a Game With A Purpose implemented for this goal. We conducted experiments evaluating Macrophage+, focusing on both its applicability and effectiveness in the context of the observer/controller pattern as well as its enjoyability for the players. The results show that Macrophage+ is a successful Game With A Purpose that involves non-expert humans in the application of the observer/controller pattern.

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Multicriteria adaptation principle on example of groups of mobile robots

Nelyubin

Misyurin

2017

J. Phys.: Conf. Ser.

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Self-adaptation for Mobile Robot Algorithms Using Organic Computing Principles

Cited by 4 publications

References 16 publications

Self-reconfigurable control architecture for complex mobile robots

Self-reconfigurable control architecture for complex mobile robots

Macrophage+: a Game With a Purpose for Applying Human Intelligence in Control Mechanisms

Multicriteria adaptation principle on example of groups of mobile robots

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