Distributed Autonomous Robotic Systems 5

by Asama, H.; Arai, T.; Fukuda, T.; Hasegawa, T.

• ISBN13: 9784431703396
• ISBN10: 443170339X
• Edition: 1st
• Format: Hardcover
• Copyright: 2002-06-01
• Publisher: Springer Verlag

Summary

The 6th International Symposium on Distributed Autonomous Robotic Systems (DARS 2002) was held in June 2002 in Fukuoka, Japan, a decade after the first DARS symposium was convened. This book, containing the proceedings of the symposium, provides broad coverage of the technical issues in the current state of the art in distributed autonomous systems composed of multiple robots, robotic modules, or robotic agents. DARS 2002 dealt with new strategies for realizing complex, modular, robust, and fault-tolerant robotic systems, and this volume covers the technical areas of system design, modeling, simulation, operation, sensing, planning, and control. The papers that are included here were contributed by leading researchers from Asia, Oceania, Europe, and the Americas, and make up an invaluable resource for researchers and students in the field of distributed autonomous robotic systems.

Table of Contents

Preface	v
Organization	xiii
Introduction
Perspective of Distributed Autonomous Robotic Systems	3	(4)
H. Asama
Modular Robotic Systems
Navigating Modular Robots in the Face of Heuristic Depressions	7	(10)
K. Miyashita
S. Kokaji
A Self-Reconfigurable Modular Robot (MTRAN) - Hardware and Motion Planning Software -	17	(10)
A. Kamimura
E. Yoshida
S. Murata
H. Kurokawa
K. Tomita
S. Kokaji
Automatic Parameter Identification for Rapid Setting Up of Distributed Modular Robots	27	(10)
K. Matsumoto
H.Y. Chen
K. Shimada
J. Ota
T. Arai
Distributed Replication Algorithms for Self-Reconfiguring Modular Robots	37	(14)
Z. Butler
S. Murata
D. Rus
Communication and Cooperation
Communication Mechanism in a Distributed System of Mobile Robots	51	(10)
A. Kasinski
P. Skrzypczynski
A Geometric Arbiter Selection Algorithm on Infrared Wireless Inter-Robot Communication	61	(10)
H. Takai
H. Hara
K. Hirano
G. Yasuda
K. Tachibana
A Study of Communication Emergence Among Mobile Robots: Simulations of Intention Transmission	71	(10)
K. Kawabata
H. Asama
M. Tanaka
Communication by Datagram Circulation Among Multiple Autonomous Soccer Robots	81	(10)
T. Sugimoto
T. Matsuoka
T. Kiriki
T. Hasegawa
Autonomous Robots Sharing a Charging Station with No Communication: A Case Study	91	(12)
F. Sempe
A. Munoz
A. Drogoul
Human-Machine Cooperative Interaction
A Scalable Command and Control System for Human-Machine Work Systems	103	(10)
A.C. Morris
C.K. Smart
S.M. Thayer
Implementing a Face Detection System Practically Robust Against Size Variation and Brightness Fluctuation for Distributed Autonomous Human Supporting Robotic Environment	113	(10)
H. Mizoguchi
K. Hidai
K. Hiraoka
M. Tanaka
T. Shigehara
T. Mishima
Voice Communication in Performing a Cooperative Task with a Robot	123	(12)
K. Pulasinghe
K. Watanabe
K. Kiguchi
K. Izumi
Multi-Robot Coordination
Position Control of Load by Traction of Two Mobile Robots	135	(10)
H. Hashimoto
S. Nakagawa
N. Amano
C. Ishii
Cooperative Motion Coordination Amidst Dynamic Obstacles	145	(10)
S. Carpin
L.E. Parker
Collision Avoidance Algorithm for Two Tracked Mobile Robots Transporting a Single Object in Coordination Based on Function Allocation Concept	155	(10)
H. Takeda
Y. Hirata
Z.D. Wang
K. Kosuge
A Decentralized Test Algorithm for Object Closure by Multiple Cooperating Mobile Robots	165	(10)
Z.D. Wang
V. Kumar
Coordinated Transportation of a Single Object by a Group of Nonholonomic Mobile Robots	175	(12)
X. Yang
K. Watanabe
K. Kiguchi
K. Izumi
Robot Soccer
Coordinated Trajectory Planning and Formation Control of Soccer Robots to Pass a Ball Cyclically	187	(10)
T.C. Liang
J.S. Liu
M-Rose: A Multi Robot Simulation Environment for Learning Cooperative Behavior	197	(10)
S. Buck
M. Beetz
T. Schmitt
Real-Time Adaptive Learning from Observation for RoboCup Soccer Agents	207	(8)
T. Kawarabayashi
T. Kubo
T. Morisita
J. Nishino
T. Odaka
H. Ogura
An Empirical Study of Coaching	215	(12)
P. Riley
M. Veloso
G. Kaminka
Distributed Control
Decentralized Control of Redundant Manipulator Based on the Analogy of Heat and Wave Equations	227	(10)
K. Ishimura
M.C. Natori
M. Wada
Cooperating Cleaning Robots	237	(10)
M. Jager
Movement Model of Multiple Mobile Robots Based on Servo System	247	(10)
M. Niitsuma
H. Hashimoto
Y. Kimura
S. Ishijima
On-Line Collision Avoidance of Mobile Robot for Dynamically Moving Obstacles	257	(10)
N. Ushimi
M. Yamamoto
M. Shimada
A. Mohri
Distributed Multi Robot Reactive Navigation	267	(12)
A. Scalzo
A. Sgorbissa
R. Zaccaria
Distributed Sensing and Mapping
Omnidirectional Distributed Vision for Multi-Robot Mapping	279	(10)
E. Menegatti
E. Pagello
How Many Robots? Group Size and Efficiency in Collective Search Tasks	289	(10)
A.T. Hayes
Mobile Sensor Network Deployment Using Potential Fields: A Distributed, Scalable Solution to the Area Coverage Problem	299	(10)
A. Howard
M.J. Mataric
G.S. Sukhatme
Map Acquisition in Multi-Robot Systems Based on Time Shared Scheduling	309	(10)
Y. Arai
H. Asama
H. Kaetsu
Principled Monitoring of Distributed Agents for Detection of Coordination Failure	319	(12)
B. Browning
G.A. Kaminka
M.M. Veloso
Multi-Agent and Group Systems
Cooperative Behavior of Interacting Simple Robots in a Clockface Arranged Foraging Field	331	(9)
K. Sugawara
M. Sano
Graduated Spatial Pattern Formation of Micro Robot Group	340	(10)
T. Fukuda
Y. Ikemoto
F. Arai
T. Higashi
Heterogeneous Agents Cooperating: Robots, Field Devices, and Process Automation Integrated with Agent Technology	350	(13)
P. Appelqvist
I. Seilonen
M. Vainio
A. Halme
K. Koskinen
Multi-Robot Motion Planning
Heuristic Approach of a Distributed Autonomous Guidance System to Adapt to the Dynamic Environment	363	(10)
D. Kurabayashi
H. Asama
Spreading Out: A Local Approach to Multi-Robot Coverage	373	(10)
M.A. Batalin
G.S. Sukhatme
Real-Time Cooperative Exploration by Reaction-Diffusion Equation on a Graph	383	(10)
C. Trevai
K. Ichikawa
Y. Fukazawa
H. Yuasa
J. Ota
T. Arai
H. Asama
Research on Cooperative Capture by Multiple Mobile Robots - A Proposition of Cooperative Capture Strategies in the Pursuit Problem -	393	(12)
K. Takahashi
M. Kakikura
Emergence in Mobility
Interpreting Two Psychological Functions by a Hierarchically Structured Neural Memory Model	405	(10)
T. Hoya
Neural Control of Quadruped Robot for Autonomous Walking on Soft Terrain	415	(9)
S. Shimada
T. Egami
K. Ishimura
M. Wada
Kilorobot Search and Rescue Using an Immunologically Inspired Approach	424	(10)
S.P.N. Singh
S.M. Thayer
Universal Distributed Brain for Mobile Multi-Robot Systems	434	(10)
P. Sapaty
M. Sugisaka
Real-Time Control of Walking of Insect; Self-Organization of the Constraints and Walking Patterns	444	(11)
M. Yano
S. Hibiya
M. Tokiwa
Y. Makino
Learning in Distributed Robotic Systems
Using Interaction-Based Learning to Construct an Adaptive and Fault-Tolerant Multi-Link Floating Robot	455	(10)
W. Yu
T. Ishioka
D. Iijima
H. Yokoi
Y. Kakazu
Neural Networks (NN) Using Genetic Algorithms (GA) and Gradient Back-Propagation (GBP) for an Intelligent Obstacle Avoidance Behavior	465	(10)
A. Chohra
O. Azouaoui
Interactive Q-Learning on Heterogeneous Agents System for Autonomous Adaptive Interface	475
Y. Ishiwaka
H. Yokoi
Y. Kakazu