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Cooperation without deliberation: A minimal behavior-based approach to multi-robot teams

Barry Brian Werger
1999 Artificial Intelligence  
In this context we introduce three design principles for complex cooperative behavior-minimalism, statelessness and tolerance-and present a RoboCup soccer system that matches the sophistication of many  ...  In this section we present these principles and a brief discussion of our behavior-based approach to system design.  ...  Our team behavior in RoboCup-97 (see Section 5.1) is based entirely on such a "physics-based" approach.  ... 
doi:10.1016/s0004-3702(99)00023-5 fatcat:pixzarkv3ng7tlb5tzj7q4klle

Guest editorial advances in multirobot systems

T. Arai, E. Pagello, L.E. Parker
2002 IEEE Transactions on Robotics and Automation  
This special issue on Multi-Robot Systems provides a broad sampling of the research that is currently ongoing in the field of distributed mobile robot systems.  ...  We conclude by identifying several additional open research issues in distributed mobile robotic systems.  ...  The article by Das, Fierro, Kumar, Ostrowski, Spletzer, and Taylor, entitled "A Framework for Vision Based Formation Control", presents a novel approach for cooperative manipulation that is based on formation  ... 
doi:10.1109/tra.2002.806024 fatcat:tdxuauo6qjfepjiyqd542b73ji

Adjustable autonomy for mobile teleoperation of personal service robots

Sebastian Muszynski, Jorg Stuckler, Sven Behnke
2012 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication  
In this paper, we propose a novel user interface for personal service robots that allows the user to teleoperate the robot using handheld computers.  ...  If the autonomous execution fails, or autonomous functionality is not provided by the robot system, the user can select a lower level of autonomy, e.g., direct body control, to solve a task.  ...  We develop our robots for research in autonomous mobile manipulation and human-robot interaction.  ... 
doi:10.1109/roman.2012.6343870 dblp:conf/ro-man/MuszynskiSB12 fatcat:iuuae7f2xfh55puxue4owrazg4

A Common Framework for Co-operative Robotics: An Open, Fault Tolerant Architecture for Multi-league RoboCup Teams [chapter]

Luís Mota, Luís Paulo Reis
2008 Lecture Notes in Computer Science  
Research in the RoboCup domain has grown considerably since the beginning of this initiative more than ten years ago.  ...  Besides allowing the free association of heterogeneous components, like real and simulated back-ends, it also considerably eases the introduction of principles of redundancy and fault tolerance.  ...  Miro [6, 7] is also a proposal for a middleware for mobile robotics, from a research team that has significant RoboCup experience [8] .  ... 
doi:10.1007/978-3-540-89076-8_19 fatcat:qgpssexalzaelav5hq24xbr4na

Solving Service Robot Tasks: UT Austin Villa@Home 2019 Team Report [article]

Rishi Shah, Yuqian Jiang, Haresh Karnan, Gilberto Briscoe-Martinez, Dominick Mulder, Ryan Gupta, Rachel Schlossman, Marika Murphy, Justin W. Hart, Luis Sentis, Peter Stone
2019 arXiv   pre-print
We describe the progress made by the UT Austin Villa 2019 RoboCup@Home team which represents a significant step forward in AI-based HRI due to the breadth of tasks accomplished within a unified system.  ...  RoboCup@Home is an international robotics competition based on domestic tasks requiring autonomous capabilities pertaining to a large variety of AI technologies.  ...  Team Northeastern has described their system for mobile manipulation, with a focus on its deployment in the Storing Groceries task (Keleştemur et al. 2019 ).  ... 
arXiv:1909.06529v1 fatcat:glplso5dknfz3erwzsrjaxktt4

Networked Robots [chapter]

Vijay Kumar, Daniela Rus, Gaurav S. Sukhatme
2008 Springer Handbook of Robotics  
The ability to network robots also enables fault-tolerance in design. If robots can in fact dynamically reconfigure themselves using the network, they are more tolerant to robot failures.  ...  The U.S. military has a big Future Combat Systems initiative to develop network-centric approaches to deploying autonomous vehicles.  ... 
doi:10.1007/978-3-540-30301-5_42 fatcat:akh3mqf6ffb3dkzp4newlutvkq

Safety-critical advanced robots: A survey

Jérémie Guiochet, Mathilde Machin, Hélène Waeselynck
2017 Robotics and Autonomous Systems  
Developing advanced robotics applications is now facing the confidence issue for users, which is a main limitation for their deployment in real life.  ...  This paper reviews the main issues and research work in the field of dependable robots, making the link between the dependability and robotics concepts.  ...  [127, 128] propose a fault tolerance approach for temporal planners which are a major class of decisional software components.  ... 
doi:10.1016/j.robot.2017.04.004 fatcat:hpodz3ryivgjdgoscgxc43sorm

Multiple Mobile Robot Systems [chapter]

Lynne E. Parker
2008 Springer Handbook of Robotics  
In the area of robustness, multi-robot teams still need improvements in the ability to degrade gracefully, reason for fault tolerance, and to achieve complexity without escalating failure rates.  ...  This architecture has been demonstrated in a team of three robots -a crane, a roving eye, and a mobile manipulator -performing a construction assembly task (see Figure 40 .5).  ... 
doi:10.1007/978-3-540-30301-5_41 fatcat:v3yo5joepja2lketepmahupkfm

Mobile bin picking with an anthropomorphic service robot

Matthias Nieuwenhuisen, David Droeschel, Dirk Holz, Jorg Stuckler, Alexander Berner, Jun Li, Reinhard Klein, Sven Behnke
2013 2013 IEEE International Conference on Robotics and Automation  
Grasping individual objects from an unordered pile in a box has been investigated in static scenarios so far. In this paper, we demonstrate bin picking with an anthropomorphic mobile robot.  ...  To this end, we extend global navigation techniques by precise local alignment with a transport box. Objects are detected in range images using a shape primitivebased approach.  ...  Our robot Cosero has been designed for mobile manipulation and intuitive human-robot interaction tasks, which were tested successfully in RoboCup@Home competitions [4] .  ... 
doi:10.1109/icra.2013.6630892 dblp:conf/icra/NieuwenhuisenDHSBLKB13 fatcat:hdt3y2v6wfcaxo44hbvbkcfyzu

Robotics Middleware: A Comprehensive Literature Survey and Attribute-Based Bibliography

Ayssam Elkady, Tarek Sobh
2012 Journal of Robotics  
The main aim of the survey is to assist robotic middleware researchers in evaluating the strengths and weaknesses of current approaches and their appropriateness for their applications.  ...  This paper presents a literature survey and attribute-based bibliography of the current state of the art in robotic middleware design.  ...  Acknowledgments The authors would like to sincerely thank Oskar von Stryk Table 2 , which summarizes a comparison of the attributes of main robotic middeware designs.  ... 
doi:10.1155/2012/959013 fatcat:e22to675ujf35koapcnhxteley

Design and Implementation of a Maxi-Sized Mobile Robot (Karo) for Rescue Missions [article]

Soheil Habibian, Mehdi Dadvar, Behzad Peykari, Alireza Hosseini, M. Hossein Salehzadeh, Alireza H.M. Hosseini, Farshid Najafi
2020 arXiv   pre-print
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  ...  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  ...  Acknowledgment The authors would like to acknowledge the work of the team members at AMRL who offered their enthusiasm and collaborative support to the Karo project [50] .  ... 
arXiv:2008.10396v1 fatcat:a2syusqx6bd2fhzdiheqilakwe

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

Soheil Habibian, Mehdi Dadvar, Behzad Peykari, Alireza Hosseini, M. Hossein Salehzadeh, Alireza H. M. Hosseini, Farshid Najafi
2021 ROBOMECH Journal  
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  ...  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  ...  Acknowledgement The authors would like to acknowledge the work of the team members at AMRL who offered their enthusiasm and collaborative support to the Karo project [54] . 1  ... 
doi:10.1186/s40648-020-00188-9 fatcat:fldx2chyc5a2tfqdw4qazwuosi

Spatial Agents Implemented in a Logical Expressible Language [chapter]

Frieder Stolzenburg, Oliver Obst, Jan Murray, Björn Bremer
2000 Lecture Notes in Computer Science  
In this paper, we present a multi-layered architecture for spatial agents. The focus is laid on the declarativity of the approach, which makes agent scripts expressive and well understandable.  ...  The logical description language is able to express actions or plans for one and more autonomous and cooperating agents for the RoboCup (Simulator League).  ...  A general approach for the exchange of knowledge between agents is the Knowledge Query and Manipulation Language (KQML) [17] .  ... 
doi:10.1007/3-540-45327-x_41 fatcat:xfuqcnvvk5csjoctupavgyxioa

Human-Scale Mobile Manipulation Using RoMan

Chad Kessens, Matthew Kaplan, Trevor Rocks, Philip Osteen, John Rogers, Ethan Stump, Arnon Hurwitz, Jonathan Fink, Long Quang, Mark Gonzalez, Jaymit Patel, Michael DiBlasi (+19 others)
2022 Field Robotics  
We also demonstrate the applicability of the system for solving two manipulation tasks: 1) removing heavy debris from a roadway, where 64% of end-to-end autonomous runs required at most one human intervention  ...  The behavior stack drives a novel platform consisting of a pair of custom, 500 Nm/axis manipulators mounted on a rotatable torso aboard a tracked platform.  ...  The views and conclusions contained in this document are those of the authors and should not be interpreted as representing the official policies, either expressed or implied, of ARL or the U.S.  ... 
doi:10.55417/fr.2022041 fatcat:5ho4o4xvfnbp7bitu3ryiq5jci

On the programming effort required to generate Behavior Trees and Finite State Machines for robotic applications [article]

Matteo Iovino, Julian Förster, Pietro Falco, Jen Jen Chung, Roland Siegwart, Christian Smith
2022 arXiv   pre-print
We validate the analysis with a set of experiments in a simulation environment where a mobile manipulator solves an item fetching task.  ...  In this work, we compare backward chained BTs with a fault-tolerant design of FSMs by evaluating the cost to modify them.  ...  ACKNOWLEDGMENTS Authors would like to thank Michel Breyer, Julian Keller and Yinyin Liu from the Autonomous Systems Lab, ETH Zürich, for their support in implementing the robot skills.  ... 
arXiv:2209.07392v1 fatcat:6yah2ozzp5envaxnu3djsfg4ta
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