Distributed Autonomous Robotic Systems 4

by Parker, L. E.; Bekey, G.; Barhen, J.

• ISBN13: 9784431702955
• ISBN10: 4431702954
• Format: Hardcover
• Copyright: 2000-12-01
• Publisher: Springer Verlag

Summary

The Fifth International Symposium on Distributed Autonomous Robotic Systems (DARS 2000) was held in October 2000 in Knoxville, Tennessee, and was hosted by the Oak Ridge National Laboratory and the Engineering Research Program of the Office of Basic Energy Sciences of the U.S. Department of Energy. This volume of proceedings presents a broad coverage of the state-of-the-art technical issues in distributed multirobot systems. Technologies, algorithms, and system architectures for distributed autonomous robotic systems are discussed. Specific topics include group behaviors, coordinated control, distributed planning, cellular robotics, self-organizing robotic systems, collective/swarm intelligence, and shared autonomy. The selected papers in this volume, contributed by leading researchers from Asia, Europe, and the Americas, provide a unique cutting-edge perspective on distributed multirobot systems.

Table of Contents

Introduction
Current State of the Art in Distributed Autonomous Mobile Robotics	3	(12)
L. E. Parker
Architectures and Development Environments
Control Architectures for an Underwater Robot Society	15	(10)
M. Vainio
P. Appelqvist
A. Halme
Ayllu: Distributed Port-aribitrated Behavior-Based Control	25	(10)
B. B. Werger
An Architecture for Reactive Cooperation of Mobile Distributed Robots	35	(10)
O. Simonin
A. Liegeois
P. Rongier
A Framework for Distributed Simulation of Multirobot Systems: The VLAB Experience	45	(10)
S. Carpin
C. Ferrari
E. Pagello
Robots that Cooperatively Enhance Their Plans	55	(14)
S. Botelho
R. Alami
Communication and Knowledge Sharing
Performance Evaluation of Autonomous Knowledge Acquisition and Sharing by Intelligent Data Carriers System	69	(10)
D. Kurabayashi
K. Konishi
H. Asama
Collective Grounded Representations for Robots	79	(10)
L. Hugues
Effects of Static and Dynamic Variety in the Character of Robots on Group Intelligence of Multi-Robots on System	89	(10)
S. Ichikawa
F. Hara
Communication Fault Tolerance in Distributed Robbotic Systems	99	(12)
P. Molnar
J. Starke
Biological Inspirations
Blazing a Trail: Insect-inspired Resource Transportation by a Robot Team	111	(10)
R. Vaughan
K. Stoy
G.S. Sukhatme
M. J. Mataric
Artificial Emotion and Social Robotics	121	(10)
F. Michaud
P. Pirajanina
J. Audet
D. Letourneau
The Use of Biologically-Inspired Rules to Control a Collective Robotic Arm	131	(14)
G.G. Korienek
A. B. Bautista
T. H. Harty
C. Leddon
Reconfigurable Robots
Micro Self-Reconfigurable Robotic System using Shape Memory Alloy	145	(10)
E. Yoshida
S. Murata
S. Kokaji
K. Tomitha
H. Kurokawa
Autonomous and Self-Sufficient CONRO Modules for Reconfigurable Robots	155	(10)
A. Castano
R. Chokkalingam
P. Will
Motion Planning for a Modular Self-Reconfiguring Robotic System	165	(14)
C. Unsal
H. Kiliccote
M. Patton
P. K. Khosla
Localization
Distributed Multi-Robot Localization	179	(10)
S. I. Rounmeliotis
G.A. Bekkey
Distance Measurement in Multi-Robot Systems based on Time Shared Scheduling	189	(10)
Y. Arai
H. Asama
H. Katetsu
I. Endo
Relative Position Localizing System for Multiple Autonomous Mobile Robots in Distributed Robotic System	199	(10)
S. Premvuti
W. Wattanapornaprom
M. O-SOT
J. Wattanamweijit
Development of a Multiple Mobile Robot System Controlled by a Human Realization of Object Command Level	209	(12)
A. Nakamura
T. Arai
T. Hiroki
J. Ota
Exploration, Mapping and Model Acquisition
Autonomous Mobile Robots and Distributed Exploratory Missions	221	(10)
D. F. Hougen
M. D. Erickson
P. E. Rybski
S. A. Stoeter
M. Gini
N. Papanikolopoulos
Terrain Model Acquisition by Mobile Robot Teams and n-Connectivity	231	(10)
N. S. V. Rao
Graph-Based Exploration using Multiple Robots	241	(10)
I. M. Rekleitis
G. Dudek
E. E. Milios
Landmark-based Matching Algorithm for Cooperative Mapping by Autonomous Robots	251	(10)
G. Dedeoglu
G. S. Sukhatme
Comparing Distributed Exploration Strategies with Simulated and Real Autonomous Robots	261	(12)
A. T. Hayes
A. Martinoli
R. M. Goodman
Distributed Sensing
Distributed Sensing and Data Collection via Broken Ad Hoc Wireless Connected Networks of Mobile Robots	273	(10)
A. Winfield
Experiments and Results in Multimodal, Distributed, Robotic Perception	283	(10)
A. Kasinski
P. Skrzypczynski
Cooperative Sentry Vehicles and Differential GPS Leapfrog	293	(12)
J. Feddema
C. Lewis
R. Lafarge
Multi-Robot Motion Coordination and Tracking
Motion Coordination in Formations of Multiple Mobile Robots Using a Potential Field Approach	305	(10)
F. E. Schneider
D. Wildermuth
H. L. Wolf
Fly Spy: Lightweight Localization and Target Tracking for Cooperating Air and Ground Robots	315	(10)
R. T. Vaughan
G. S. Sukhatme
E. J. Mesa-Martinez
J. F. Montgomery
Dynamic Robot-Target Assignment - Dependence of Recovering from Breakdowns on the Speed of the Selection Process	325	(10)
T. Kaga
J. Starke
P. Molnar
M. Schanz
T. Fukuda
Fuzzy Control of Distance and Motion Tracking Applied to Cooperative Autonomous Robots	335	(12)
M. R. Hitchings
LJ. B. Vlacic
Z. O'Sullivan
Broadcast of Local Eligibility for Multi- Target Observation	347	(10)
B. B. Werger
M. J. Mataric
A Communication-Free Behavior for Docking Mobile Robots	357	(14)
B. W. Minten
R. R. Murphy
J. Hyams
M. Micire
Multi-Robot Learning
On Behavior Classification in Adversarial Environments	371	(10)
P. Riley
M. Veloso
Learning-Based Task Allocation in Decentralized Multirobot System	381	(10)
P. Tangamchit
J. M. Dolan
P. K. Khosla
Multi-Robot Learning in a Cooperative Observation Task	391	(12)
L. E. Parker
C. Touzet
Ultra-Fast Neural Network Training for Robot Learning from Uncertain Data	403	(14)
J. Barhen
V. Protopopescu
Cooperative Object Transport
Object Transport Using Multiple, Mobile Robots with Pin Joint Endeffectors	417	(10)
C. K. Humberstone
K. B. Smith
Distributed Motion Generation for Two Omni-Directional Robots, Carrying a Ladder	427	(10)
Y. Asahiro
E. C-H. Chang
A. Mali
S. Nagagulji
I. Suzuki
M. Yamashita
Experimental Manufacturing of Object Transfer System ``Magic Carpet'' Consisting of Actuator Array with Autonomous Decentralized Control	437	(10)
H. Oyobe
R. Marutani
Y. Hori
A Control Method of a Multiple Non-holonomic Robot System for Cooperative Object Transportation	447	(10)
Z. Wang
Y. Kimura
T. Takasashi
E. Nakano
Structural Characteristics of Intelligence and Embodiment in Two-Mobile Robots System	457	(12)
T. Sawada
A. Sugai
S. Ichikawa
F. Hara
Related Research Topics
From Distributed Robot Perception to Human Topology: A Learning Model	469	(2)
N. Bredeche
J.-D. Zucker
Reactive Sensor Networks	471	(2)
R. R. Brooks
E. Grele
W. Klimkiewicz
J. Moore
C. Griffin
B. Kovak
J. Koch
Cooperation of Multiple Robots to Solve Maze Tasks	473	(2)
C. R. F. Costa
E. P. L. Aude
Localizing a Wireless Node in a Multi-Agent System using Kalman Filtering	475	(2)
P. Goel
G. S. Sukhatme
Learning Cooperation From Human-Robot Interaction	477	(2)
M. N. Nicolescu
M. J. Mataric
Susceptibility of Swarm Control Algorithms to Agent Failure	479	(2)
D. W. Palmer
D. H. Stinberg
C. M. Hantak. M. A. Kovacina
S. N. Calabrese
The MICRobes Project, an Experimental Approach towards ``Open Collective Robotics''	481	(2)
S. Picault
A. Drogoul
Dynamic Task Selection: A Simple Structure for Multirobot system	483	(2)
P. Tangamchit
J. M. Dolan
P. K. Khosla
Author Index	485