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Centibots: Very Large Scale Distributed Robotic Teams [chapter]

Kurt Konolige, Dieter Fox, Charlie Ortiz, Andrew Agno, Michael Eriksen, Benson Limketkai, Jonathan Ko, Benoit Morisset, Dirk Schulz, Benjamin Stewart, Regis Vincent
2006 Springer Tracts in Advanced Robotics  
We describe the development of Centibots, a framework for very large teams of robots that are able to perceive, explore, plan and collaborate in unknown environments.  ...  Centibots teams currently consist of approximately 100 robots, which can be deployed in unexplored areas and which can efficiently distribute tasks among themselves; the system also makes use of a mixed  ...  SRI International, USA; 2 University of Washington, USA We describe the development of Centibots, a framework for very large teams of robots that are able to perceive, explore, plan and collaborate in  ... 
doi:10.1007/11552246_13 fatcat:zrwc7v3q4bb4laxjtqg4uppngq

Centibots: Very Large Scale Distributed Robotic Teams [chapter]

Kurt Konolige, Charlie Ortiz, Regis Vincent, Benoit Morisset, Andrew Agno, Michael Eriksen, Dieter Fox, Benson Limketkai, Jonathan Ko, Benjamin Stewart, Dirk Schulz
Building the Information Society  
We describe the development of Centibots, a framework for very large teams of robots that are able to perceive, explore, plan and collaborate in unknown environments.  ...  Centibots teams currently consist of approximately 100 robots, which can be deployed in unexplored areas and which can efficiently distribute tasks among themselves; the system also makes use of a mixed  ...  SRI International, USA; 2 University of Washington, USA We describe the development of Centibots, a framework for very large teams of robots that are able to perceive, explore, plan and collaborate in  ... 
doi:10.1007/978-1-4020-8157-6_84 dblp:conf/ifip/KonoligeOVMAEFLKSS04 fatcat:zof2ec6vordnfn3dtwejzsoam4

Task inference and distributed task management in the Centibots robotic system

Charles L. Ortiz, Régis Vincent, Benoit Morisset
2005 Proceedings of the fourth international joint conference on Autonomous agents and multiagent systems - AAMAS '05  
We describe the Centibots system, a very large scale distributed robotic system, consisting of more than 100 robots, that has been successfully deployed in large, unknown indoor environments, over extended  ...  to maintain team communication.  ...  ACKNOWLEDGMENTS The authors would like to thank the entire Centibots team: Andrew Agno, Linda Briesemeister,Brian Burns, Michael Eriksen, Kurt Konolige , Mark Lewis, Enrique Ruspini, Dieter Fox, Jonathan  ... 
doi:10.1145/1082473.1082604 dblp:conf/atal/OrtizVM05 fatcat:qylfvuipi5efzp57sa3jczrvsi

A distributed tasks allocation scheme in multi-UAV context

T. Lemaire, R. Alami, S. Lacroix
2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  
We propose a completely distributed architecture, where robots dynamically allocate their tasks while they are building their plans.  ...  This paper deals with the task allocation problem in multi-robot systems.  ...  An exemplary project in this domain is Centibots 1 , which aims at demonstrating a hundred robots system mapping, exploring and monitoring a large building in a coherent fashion during a period of 24 hours  ... 
doi:10.1109/robot.2004.1308816 dblp:conf/icra/LemaireAL04 fatcat:exesbpzrpjbzjfnjj7orhf6xom

Distributed Multirobot Exploration and Mapping

D. Fox, J. Ko, K. Konolige, B. Limketkai, D. Schulz, B. Stewart
2006 Proceedings of the IEEE  
Efficient exploration of unknown environments is a fundamental problem in mobile robotics. In this paper we present an approach to distributed multi-robot mapping and exploration.  ...  Our system enables teams of robots to efficiently explore environments from different, unknown locations.  ...  ACKNOWLEDGMENTS We thank Doug Gage and DARPA for support under the Software for Distributed Robotics Program (Contract #NBCHC020073).  ... 
doi:10.1109/jproc.2006.876927 fatcat:cyybxf2za5falnj62yosl5cv4i

Implementation of an Indoor Active Sensor Network [chapter]

Alex Brooks, Alexei Makarenko, Tobias Kaupp, Stefan Williams, Hugh Durrant-Whyte
2006 Springer Tracts in Advanced Robotics  
The task is to detect and map motion of people (and robots) in an office space using a network of 12 stationary sensors.  ...  The paper includes a section on the lessons learned during the project's design and development which may be applicable to other heterogeneous distributed systems with data-intensive algorithms.  ...  A typical deployment would involve a very large number of small identical units designed by a single team.  ... 
doi:10.1007/11552246_38 fatcat:n5julewy2zeejkkupwpy7zckja

Navigation in Large Groups of Robots

Julio Asiain, Julio Godoy
2020 Current Robotics Reports  
Purpose of Review As robots become more ubiquitous, research in large-scale robot navigation has gained more focus given their potential real-world applications.  ...  Successful applications of large-scale robot navigation approaches are in structured and known environments where robots are centrally controlled.  ...  Many distributed large-scale robot navigation contributions are also labeled "swarm robotics" approaches.  ... 
doi:10.1007/s43154-020-00017-2 fatcat:u6qpklnrwrc5heao7bqraaqkzi

Synergistic Integration of Agent Technologies for Military Simulation

Paul Scerri, Sean Owens, Robin Glinton, Katia Sycara
2007 2007 International Conference on Integration of Knowledge Intensive Multi-Agent Systems  
To perform large-scale coordination in real-world environments requires that many individually complex technologies come together to form integrated solutions.  ...  Recently, SRI's Centibot project demonstrated effective behavior of a very large scale robot team [19] .  ...  However, some of them, including distributed constraint-based algorithms [16, 17] , combinatorial auctions [9] do not scale well to very large teams.  ... 
doi:10.1109/kimas.2007.369809 fatcat:3mnqjjxxafh6zbmouhxbyfcilu

Synergistic integration of agent technologies for military simulation

Sean Owens, Paul Scerri, Robin Glinton, Bin Yu, Katia Sycara
2006 Proceedings of the fifth international joint conference on Autonomous agents and multiagent systems - AAMAS '06  
To perform large-scale coordination in real-world environments requires that many individually complex technologies come together to form integrated solutions.  ...  Recently, SRI's Centibot project demonstrated effective behavior of a very large scale robot team [19] .  ...  However, some of them, including distributed constraint-based algorithms [16, 17] , combinatorial auctions [9] do not scale well to very large teams.  ... 
doi:10.1145/1160633.1160906 dblp:conf/atal/OwensSGYS06 fatcat:3i7ydoijkndzhgo3ktcgxd4vgy

Social control of a group of collaborating multi-robot multi-target tracking agents

Krishna, Hexmoor
2003 22nd Digital Avionics Systems Conference Proceedings (Cat No 03CH37449) DASC-03  
group or team objectives.  ...  Invariably the robots tend to encounter one another in unexpected ways and may have very little time to avoid collision.  ... 
doi:10.1109/dasc.2003.1245900 fatcat:ca4e6k4ltvgm5ozudvpwzojxjm

A Survey on Decentralized Flocking Schemes for a Set of Autonomous Mobile Robots (Invited Paper)

Naixue Xiong, Jing He, Yan Yang, Yanxiang He, Tai-hoon Kim, Chuan Lin
2010 Journal of Communications  
Souissi, “Self-stabilizing “CENTIBOTS: Large-Scale Robot Teams”, in Algorithm for Circle Formation by Disoriented Journal of Multi-Robot Systems: From Swarms to  ...  Prencipe, “CORDA: Distributed Coordination of formation control for multi-robot teams,” IEEE a Set of Autonomous Mobile Robots," in Proceding Transactions on Robotics and Automation  ... 
doi:10.4304/jcm.5.1.31-38 fatcat:x2z6halqzjctdfczwg22uzppz4

Comparing Three Approaches to Large-Scale Coordination [chapter]

Paul Scerri, Régis Vincent, Roger Mailler
Coordination of Large-Scale Multiagent Systems  
In this chapter, we look at three implementations of large-scale coordination examining common issues, approaches, and open problems.  ...  Coordination of large groups of agents or robots is starting to reach a level of maturity where prototype systems can be built and tested in realistic environments.  ...  Centibots Dispatching Funded by DARPA, the Centibots project is aimed at designing, implementing, and demonstrating a computational framework for the coordination of very large robot teams, consisting  ... 
doi:10.1007/0-387-27972-5_3 fatcat:q6n5dagmjzdxpmwu4bymlnutom

Creating Collaboration Patterns in Multi-Agent Systems with Generic Observer/Controller Architectures

Emre Cakar, Jörg Hähner, Christian Mueller-Schloer
2008 Proceedings of the 2nd International ICST Conference on Autonomic Computing and Communication Systems  
In this paper, we investigate different distribution possibilities of the generic o/c architecture and the resulting collaboration and communication patterns in a traffic scenario.  ...  Large-scale, fault-tolerant and adaptive robot systems are investigated in this context.  ...  The access to capabilities of a team of robots is realised in form of Jini services. An application of DFRA to a simulated demining task on a team of ground and aerial robots is presented in [8] .  ... 
doi:10.4108/icst.autonomics2008.4379 dblp:conf/autonomics/CakarHM08 fatcat:5apocbyq7vhd5hfsytlruryhri

Efficient frontier detection for robot exploration

Matan Keidar, Gal A. Kaminka
2013 The international journal of robotics research  
Frontier-based exploration is the most common approach to exploration, a fundamental problem in robotics.  ...  In frontier-based exploration, robots explore by repeatedly detecting (and moving towards) frontiers, the segments which separate the known regions from those unknown.  ...  [22, 21] presented Centibots, a framework which enables to control a large team of robots performing tasks of exploration, planning and collaboration in unknown environments.  ... 
doi:10.1177/0278364913494911 fatcat:jfpbjc3l7je7hlx2gyr2v6ta4q

An Application Framework for Loosely Coupled Networked Cyber-Physical Systems

Minyoung Kim, Mark-Oliver Stehr, Jinwoo Kim, Soonhoi Ha
2010 2010 IEEE/IFIP International Conference on Embedded and Ubiquitous Computing  
simulated NCPS that uses mobile robots as controllable data mules.  ...  Our framework is tested on a new distributed version of an evolutionary optimization algorithm that runs on a computing cluster and is also used to solve a dynamic distributed optimization problem in a  ...  The use of the framework for large-scale distributed simulation and analysis of the NCPS (beyond our multi-threaded implementation) is an unexplored possibility and has the potential for better scalability  ... 
doi:10.1109/euc.2010.30 dblp:conf/euc/KimSKH10 fatcat:wr62kv2oibgtldvz3vpsnj25xy
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