Thermodynamics-Inspired Modeling of Macroscopic Swarm States

Haeri, Hossein; Jerath, Kshitij; Leachman, Jacob

doi:10.1115/dscc2019-8979

Cited by 2 publications

(4 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…However, these sets of specifications provide a comprehensive Fig. 17 This figure illustrates a merged 2D map by Karo and another complementary robot in the mission which exemplifies a collective behavior [47,48]. In this map, the blue lines represent the obstacles where blue and red spots stand for decoded QR codes using image caption generation method [49] and the detected victims, respectively.…”

Section: System Specificationsmentioning

confidence: 99%

“…This has been done by finding transformation between two maps, generated by two different robots, and merging them accordingly. [45,46]. In this map, the blue lines represent the obstacles where blue and red spots stand for decoded QR codes using image caption generation method [47] and the detected victims, respectively.…”

Section: Simultaneous Localization and Mappingmentioning

confidence: 99%

See 1 more Smart Citation

Design and implementation of a maxi-sized mobile robot (Karo) for rescue missions

et al. 2021

View full text Add to dashboard Cite

Rescue robots are expected to carry out reconnaissance and dexterity operations in unknown environments comprising unstructured obstacles. Although a wide variety of designs and implementations have been presented within the field of rescue robotics, embedding all mobility, dexterity, and reconnaissance capabilities in a single robot remains a challenging problem. This paper explains the design and implementation of Karo, a mobile robot that exhibits a high degree of mobility at the side of maintaining required dexterity and exploration capabilities for urban search and rescue (USAR) missions. We first elicit the system requirements of a standard rescue robot from the frameworks of Rescue Robot League (RRL) of RoboCup and then, propose the conceptual design of Karo by drafting a locomotion and manipulation system. Considering that, this work presents comprehensive design processes along with detail mechanical design of the robot’s platform and its 7-DOF manipulator. Further, we present the design and implementation of the command and control system by discussing the robot’s power system, sensors, and hardware systems. In conjunction with this, we elucidate the way that Karo’s software system and human–robot interface are implemented and employed. Furthermore, we undertake extensive evaluations of Karo’s field performance to investigate whether the principal objective of this work has been satisfied. We demonstrate that Karo has effectively accomplished assigned standardized rescue operations by evaluating all aspects of its capabilities in both RRL’s test suites and training suites of a fire department. Finally, the comprehensiveness of Karo’s capabilities has been verified by drawing quantitative comparisons between Karo’s performance and other leading robots participating in RRL.

show abstract

Section: System Specificationsmentioning

confidence: 99%

Section: Simultaneous Localization and Mappingmentioning

confidence: 99%

Design and implementation of a maxi-sized mobile robot (Karo) for rescue missions

et al. 2021

View full text Add to dashboard Cite

show abstract

“…To complete (7), we also need to consider the coordination between the gatherer and other hunters by caring about the availability of frontiers within CPM of the candidate task. To that end, we will multiply the right side of (7) by a coordination term which is (1 + μλ c z ), where λ c z and μ denote the number of frontiers within CPM of t c z and the coordination coefficient, respectively.…”

Section: 4mentioning

confidence: 99%

“…Multirobot systems are expected to complete tasks that are infeasible, laborious, or inefficient for a single agent to accomplish [1]. Employing multirobot systems entails addressing various problems on the subjects of task allocation [2], exploration [3], coordination [4], learning [5], swarm behavior [6,7], and heterogeneity [8]. Among all of these problems, the problem of multirobot task allocation (MRTA), that is assigning a group of tasks to individual robots, is the most deep-seated problem where its complexity increases considerably in dynamic environments.…”

Section: Introductionmentioning

confidence: 99%

Exploration and Coordination of Complementary Multirobot Teams in a Hunter-and-Gatherer Scenario

et al. 2021

View full text Add to dashboard Cite

The hunter-and-gatherer approach copes with the problem of dynamic multirobot task allocation, where tasks are unknowingly distributed over an environment. This approach employs two complementary teams of agents: one agile in exploring (hunters) and another dexterous in completing (gatherers) the tasks. Although this approach has been studied from the task planning point of view in our previous works, the multirobot exploration and coordination aspects of the problem remain uninvestigated. This paper proposes a multirobot exploration algorithm for hunters based on innovative notions of “expected information gain” to minimize the collective cost of task accomplishments in a distributed manner. Besides, we present a coordination solution between hunters and gatherers by integrating the novel notion of profit margins into the concept of expected information gain. Statistical analysis of extensive simulation results confirms the efficacy of the proposed algorithms compared in different environments with varying levels of obstacle complexities. We also demonstrate that the lack of effective coordination between hunters and gatherers significantly distorts the total effectiveness of the planning, especially in environments containing dense obstacles and confined corridors. Finally, it is statistically proven that the overall workload is distributed equally for each type of agent which ensures that the proposed solution is not biased to a particular agent and all agents behave analogously under similar characteristics.

show abstract

Thermodynamics-Inspired Modeling of Macroscopic Swarm States

Abstract: Abstract Publisher’s Note: This paper was selected for publication in ASME Letters in Dynamic Systems and Control. https://www.asmedigitalcollection.asme.org/lettersdynsys/article/doi/10.1115/1.4046580/1075681/Thermodynamics-Inspired-Macroscopic-States-of

Cited by 2 publications

References 0 publications

Design and implementation of a maxi-sized mobile robot (Karo) for rescue missions

Design and implementation of a maxi-sized mobile robot (Karo) for rescue missions

Exploration and Coordination of Complementary Multirobot Teams in a Hunter-and-Gatherer Scenario

Contact Info

Product

Resources

About