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A rendezvous approach for correcting accumulative errors of multiple robots

Xuefeng Dai, Zheping Yan, Jianqi Zhao, Dahui Li
2018 EURASIP Journal on Wireless Communications and Networking  
Wireless communication with no range and bandwidth limitations is desired for coordination and information sharing among multiple robots.  ...  This paper proposed a simple yet effective scheme for correcting odometer errors existed in each robot of a multi-robot system.  ...  Markov decision process (MDP) modeling-based approaches for multi-robot systems coordination took the uncertainty into account [8] [9] [10] [11] . Yet, solving MDP are computational expensive.  ... 
doi:10.1186/s13638-018-1162-x fatcat:oewgmonxqfgqhhfklcqdw55jdm

Distributed value functions for multi-robot exploration

Laetitia Matignon, Laurent Jeanpierre, Abdel-Illah Mouaddib
2012 2012 IEEE International Conference on Robotics and Automation  
A key problem is then the coordination of decentralized decision processes: each individual robot must choose appropriate exploration goals so that the team simultaneously explores different locations  ...  This paper addresses the problem of exploring an unknown area with a team of autonomous robots using decentralized decision making techniques.  ...  ACKNOWLEDGEMENTS This work has been supported by the NRA (French National Research Agency) and the DGA (Defense Procurement Agency) (ANR-09-CORD-103) and jointly developed with the members of the Robots  ... 
doi:10.1109/icra.2012.6224937 dblp:conf/icra/MatignonJM12 fatcat:tly7tefrnnaklkiuemfjrdugsi

Multi-Robot Coordination and Planning in Uncertain and Adversarial Environments [article]

Lifeng Zhou, Pratap Tokekar
2021 arXiv   pre-print
; (2) risk-aware coordination to manage the trade-off risk and reward, where the risk stems due to environmental uncertainty; (3) Graph Neural Networks based coordination to learn decentralized multi-robot  ...  In order for multi-robot systems to become practical, we need coordination algorithms that can scale to large teams of robots dealing with dynamically changing, failure-prone, contested, and uncertain  ...  Later, to solve multi-robot planning problems in continuous spaces, Omidshafiei et al. extended the Dec-POMDP to the Decentralized Partially Observable Semi-Markov Decision Process (Dec-POSMDP) using task  ... 
arXiv:2105.00389v1 fatcat:bwnyxvpvzjfrbjxyiysnmq5e74

Research status of operational environment partitioning and path planning for multi - robot systems

Xuefeng Dai, Qi Fan, Dahui Li
2017 Journal of Physics, Conference Series  
There is a lot of applications for multi-robot systems instead of single robot systems. Therefore, coordination algorithms have become popular in the field of robotics for two decades.  ...  This paper analyzes and summarizes the current research status of coordinated algorithms for multi-robot systems, from perspectives of partitioning the environment, and path planning.  ...  Among them, the most classical method is based on the Markov decision process model in decision theory to study the coordination of multi-robot system, it is an effective tool to deal with the uncertainty  ... 
doi:10.1088/1742-6596/887/1/012080 fatcat:v7dio6mhajfshcrayhw7oyyyza

Decentralized Global Connectivity Maintenance for Multi-Robot Navigation: A Reinforcement Learning Approach [article]

Minghao Li, Yingrui Jie, Yang Kong, Hui Cheng
2021 arXiv   pre-print
The problem of multi-robot navigation of connectivity maintenance is challenging in multi-robot applications.  ...  We incorporate connectivity concerns into the RL framework as constraints and introduce behavior cloning to reduce the exploration complexity of policy optimization.  ...  Problem formulation The multi-robot navigation problem can be formulated as a Partial Observable Markov Decision Process (POMDP).  ... 
arXiv:2109.08536v1 fatcat:5cbftdsg7zdnxod3jupm4tydhe

Decentralized control of Partially Observable Markov Decision Processes using belief space macro-actions

Shayegan Omidshafiei, Ali-akbar Agha-mohammadi, Christopher Amato, Jonathan P. How
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
Decentralized Partially Observable Markov Decision Processes (Dec-POMDPs) are general models for multirobot coordination problems, but representing and solving Dec-POMDPs is often intractable for large  ...  Observable Semi-Markov Decision Process (Dec-POSMDP).  ...  The most general representation of the multi-robot coordination problem is the Decentralized Partially Observable Markov Decision Process (Dec-POMDP) [8] .  ... 
doi:10.1109/icra.2015.7140035 dblp:conf/icra/OmidshafieiAAH15 fatcat:xvlrwdhgazcapnhjxqgj5vj6yy

Review of Multi-Agent Algorithms for Collective Behavior: a Structural Taxonomy [article]

Federico Rossi and Saptarshi Bandyopadhyay and Michael Wolf and Marco Pavone
2018 arXiv   pre-print
For each mathematical technique, we identify the multi-agent coordination tasks it can be applied to, and we analyze its scalability, bandwidth use, and demonstrated maturity.  ...  We highlight how versatile techniques such as artificial potential functions can be used for applications ranging from low-level position control to high-level coordination and task allocation, we discuss  ...  Markov decision processes (MDPs) and partially observable MDPs capture the stochastic nature of the environment and model the agents' coordination mechanism (Boutilier, 1999) .  ... 
arXiv:1803.05464v1 fatcat:vipkvfdcm5cmjiiwchcqj7czv4

Decentralized Control of Partially Observable Markov Decision Processes using Belief Space Macro-actions [article]

Shayegan Omidshafiei, Ali-akbar Agha-mohammadi, Christopher Amato, Jonathan P. How
2015 arXiv   pre-print
Decentralized partially observable Markov decision processes (Dec-POMDPs) are general models for multi-robot coordination problems, but representing and solving Dec-POMDPs is often intractable for large  ...  observable semi-Markov decision process (Dec-POSMDP).  ...  The most general representation of the multi-robot coordination problem is the decentralized partially observable Markov decision process (Dec-POMDP) [8] .  ... 
arXiv:1502.06030v1 fatcat:ryf2rjou4rg7phb4m4rypaitb4

DECENTRALIZED MULTI-ROBOT PLANNING TO EXPLORE AND PERCEIVE

Laetitia Matignon, Laurent Jeanpierre, Abdel-Illah Mouaddib
2015 Acta Polytechnica  
As a participant in this challenge, we proposed a new decentralized Markov decision process (Dec-MDP) resolution based on distributed value functions (DVF) to compute multi-robot exploration strategies  ...  In a recent French robotic contest, the objective was to develop a multi-robot system able to autonomously map and explore an unknown area while also detecting and localizing objects.  ...  Acknowledgements This work has been supported by NRA and DGA (ANR-09-CORD-103) and was developed jointly with the members of the Robots Malins consortium.  ... 
doi:10.14311/ap.2015.55.0169 fatcat:dvjrc7x7lzdnxhln4qhv4pnvsy

A Survey and Analysis of Multi-Robot Coordination

Zhi Yan, Nicolas Jouandeau, Arab Ali Cherif
2013 International Journal of Advanced Robotic Systems  
Having made great progress in the development of the basic problems concerning single-robot control, many researchers shifted their focus to the study of multi-robot coordination.  ...  A series of related problems have been reviewed, which include a communication mechanism, a planning strategy and a decision-making structure.  ...  In the first stage, each robot selects its own tasks based on the expected benefit by using a Markov decision process (MDP).  ... 
doi:10.5772/57313 fatcat:lj4hv3wxqrdmfc4mzph76q76qq

Homography Estimation Between Omnidirectional Cameras Without Point Correspondences [chapter]

Robert Frohlich, Levente Tamás, Zoltan Kato
2015 Studies in Systems, Decision and Control  
The intent is to cover the theory, applications, and perspectives on the state of the art and future developments relevant to systems, decision making, control, complex processes and related areas, as  ...  , decision making and control-quickly, up to date and with a high quality.  ...  Chapter 2, The Explore-Exploit Dilemma in Nonstationary Decision Making Under Uncertainty, again uses reinforcement learning methods in unknown environments but focuses on a complementary aspect: choosing  ... 
doi:10.1007/978-3-319-26327-4_6 fatcat:jzfi55x2bzgnxmalsregytzmmq

Decentralized multi-agent exploration with online-learning of Gaussian processes

Alberto Viseras, Thomas Wiedemann, Christoph Manss, Lukas Magel, Joachim Mueller, Dmitriy Shutin, Luis Merino
2016 2016 IEEE International Conference on Robotics and Automation (ICRA)  
Previous decentralized multi-agent exploration algorithms that use Gaussian processes as underlying data model, have only been validated through simulations.  ...  In this work, we propose an exploration algorithm that deals with the following challenges: (i) which information to transmit to achieve multi-agent coordination; (ii) how to implement a light-weight collision  ...  DECENTRALIZED MULTI-AGENT EXPLORATION We aim to explore an a priori unknown process.  ... 
doi:10.1109/icra.2016.7487617 dblp:conf/icra/ViserasRMMMSM16 fatcat:pdie7ik7bfb27jjron77hjsilu

A Review On Multi Robot Cooperation Using Bio Inspired Neural Networks

Poorva Agrawal, Himanshu Agrawal
2013 Zenodo  
and failure of the robots i.e. the multi robot systems must work well under robust environments.  ...  The bio inspired neural network is used for cooperation in a multi robot system. In this paper, we provide a detailed literature review on multi robot cooperation using bioinspired neural networks.  ...  [29] , miss-communication and failure of the robots i.e. the multi robot systems must work well under robust environments.  ... 
doi:10.5281/zenodo.1252095 fatcat:3xzhvxan6zefhetdlbwwuvl2dq

Decentralized control of multi-robot partially observable Markov decision processes using belief space macro-actions

Shayegan Omidshafiei, Ali–Akbar Agha–Mohammadi, Christopher Amato, Shih–Yuan Liu, Jonathan P How, John Vian
2017 The international journal of robotics research  
Decentralized Partially Observable Markov Decision Processes (Dec-POMDPs) are general models for multi-robot coordination problems.  ...  This work extends the Dec-POMDP model to the Decentralized Partially Observable Semi-Markov Decision Process (Dec-POSMDP) to take advantage of high-level representations that are natural for multi-robot  ...  A general representation of the multi-robot coordination problem is the Decentralized Partially Observable Markov Decision Process (Dec-POMDP) (Bernstein et al. 2002) .  ... 
doi:10.1177/0278364917692864 fatcat:ignx7d7efzfk5fjp25czzyxy4q

Multi-agent Soft Actor-Critic Based Hybrid Motion Planner for Mobile Robots [article]

Zichen He and Lu Dong and Chunwei Song and Changyin Sun
2021 arXiv   pre-print
In this paper, a novel hybrid multi-robot motion planner that can be applied under non-communication and local observable conditions is presented.  ...  The design of the front-end collaborative waypoints searching module is based on the multi-agent soft actor-critic algorithm under the centralized training with decentralized execution diagram.  ...  We extend soft actor-critic (SAC) to a MARL algorithm to handle the decentralized partially observable Markov decision problem (Dec-POMDP).  ... 
arXiv:2112.06594v1 fatcat:7i7fejc5z5cthac3fxiooyb25e
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