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Decentralized navigation model for multiagent cooperative robotic systems

Andrés C. Jiménez, Vicente García-Díaz, Sandro Bolaños
2020 Journal of Ambient Intelligence and Smart Environments  
On November 20, 2018 at 11 am, Andrés Camilo Jiménez Alvarez defended his Ph.D. thesis entitled Decentralized navigation model for multiagent cooperative robotic systems at the Distrital University Francisco  ...  . / Decentralized navigation model for multiagent cooperative robotic systemsFig. 1. Five modular processes of the framework.  ...  The proposed model demonstrated its ability to perform decentralized navigation tasks, increasing the autonomy of the system.  ... 
doi:10.3233/ais-200583 fatcat:do4l3n2eezb6lcjrmdmurhlnvi

Decentralized multi-robot cooperation with auctioned POMDPs

Jesus Capitan, Matthijs T.J. Spaan, Luis Merino, Anibal Ollero
2012 2012 IEEE International Conference on Robotics and Automation  
Furthermore, communication models in the multiagent POMDP literature severely mismatch with real inter-robot communication.  ...  To address this issue, this paper proposes to decentralize multiagent Partially Observable Markov Decision Process (POMDPs) while maintaining cooperation between robots by using POMDP policy auctions.  ...  MULTIAGENT PLANNING UNDER UNCERTAINTY There is a wide variety of decision-theoretic models to deal with multiagent systems, such as Multiagent POMDPs [13] and Decentralized POMDPs [1] , which we compare  ... 
doi:10.1109/icra.2012.6224917 dblp:conf/icra/CapitanSMO12 fatcat:yjdgkbwt6fc5vbkzvahysu6ewq

Model-based Reinforcement Learning for Decentralized Multiagent Rendezvous [article]

Rose E. Wang, J. Chase Kew, Dennis Lee, Tsang-Wei Edward Lee, Tingnan Zhang, Brian Ichter, Jie Tan, Aleksandra Faust
2020 arXiv   pre-print
We propose hierarchical predictive planning (HPP), a model-based reinforcement learning method for decentralized multiagent rendezvous.  ...  Altogether, HPP removes the need for a centralized operator in multiagent systems by combining model-based RL and inference methods, enabling agents to dynamically align plans.  ...  Acknowledgments We thank Michael Everett, Oscar Ramirez and Igor Mordatch for the insightful discussions.  ... 
arXiv:2003.06906v2 fatcat:3y3mw4qpefgttimxc4gz2heasm

Design, Control, and Applications of Real-World Multirobot Systems [From the Guest Editors]

Christopher Kitts, Magnus Egerstedt
2008 IEEE robotics & automation magazine  
Bicchi et al. report on their work in developing a multiagent functional architecture for decentralized traffic management.  ...  Sariel et al. evaluate a distributed auction-based system for allocating tasks among a cooperative fleet of autonomous underwater vehicles for a naval mine countermeasure operation.  ...  Bicchi et al. report on their work in developing a multiagent functional architecture for decentralized traffic management.  ... 
doi:10.1109/m-ra.2007.914989 fatcat:qwf6g27otjdgviwwnah53p3v74

A Multiagent Architecture for Mobile Robot Navigation Using Hierarchical Fuzzy and Sliding Mode Controllers

Dorra Ayedi, Maïssa Boujelben, Chokri Rekik
2018 Mathematical Problems in Engineering  
The use of multiagent system is convenient for such a problem. Hence, we have designed a structure composed of four agents dedicated to perception, navigation, static, and dynamic obstacle avoidance.  ...  The challenge of this work is to implement an algorithm which enables the robot to achieve independent activities in the purpose of achieving a common goal, which consists in autonomous navigation in a  ...  Multiagent Architecture Model The basic structure of the multiagent model is presented in Figure 2 . It is composed of four agents which interact with each other through a cooperative system.  ... 
doi:10.1155/2018/9315925 fatcat:i67uulwssvegdi3o3x4sfsdwui

New Achievements in Control of Robotic Systems

Víctor Santibáñez, Arturo Zavala-Río, Luis Rodolfo García Carrillo, Javier Moreno-Valenzuela
2015 Mathematical Problems in Engineering  
Acknowledgment We thank the reviewers of the journal for the invaluable comments and suggestions given to the authors, which really helped to improve the quality of the papers published in the current  ...  , cooperative manipulators, and multiagent systems.  ...  Mobile Robots and Multiagents Systems The demand for robots with high mobility has increased in the last years.  ... 
doi:10.1155/2015/514105 fatcat:ufohsarfy5b55l3qs4zifh6nli

Evolving a multiagent system for landmark-based robot navigation

Madhur Ambastha, Dídac Busquets, Ramon López de Màntaras, Carles Sierra
2005 International Journal of Intelligent Systems  
In this paper, we build upon a multiagent architecture for landmark based navigation in unknown environments.  ...  In this architecture, each of the agents in the navigation system has a bidding function that is controlled by a set of parameters.  ...  The Navigation system itself is implemented as a multiagent system (see Figure 2 ).  ... 
doi:10.1002/int.20079 fatcat:s5qpt5fyybhedb6yva5bm6sa7e

Distributed Cooperative Regulation for Multiagent Systems and Its Applications to Power Systems: A Survey

Jianqiang Hu, Yaping Li, Taiyou Yong, Jinde Cao, Jie Yu, Wenbo Mao
2014 The Scientific World Journal  
Cooperative regulation of multiagent systems has become an active research area in the past decade.  ...  This paper reviews some recent progress in distributed coordination control for leader-following multiagent systems and its applications in power system and mainly focuses on the cooperative tracking control  ...  Generally, for a large-scale multiagent system, there are always three kinds of control strategies: centralized control, decentralized control, and distributed control.  ... 
doi:10.1155/2014/139028 pmid:25243199 pmcid:PMC4163399 fatcat:gte5vjor3fg7zmxad2cmhchmfu

Decentralized non-communicating multiagent collision avoidance with deep reinforcement learning

Yu Fan Chen, Miao Liu, Michael Everett, Jonathan P. How
2017 2017 IEEE International Conference on Robotics and Automation (ICRA)  
Finding feasible, collision-free paths for multiagent systems can be challenging, particularly in noncommunicating scenarios where each agent's intent (e.g. goal) is unobservable to the others.  ...  This work presents a decentralized multiagent collision avoidance algorithm based on a novel application of deep reinforcement learning, which effectively offloads the online computation (for predicting  ...  Collision avoidance is essential for coordinating multiagent systems and modeling interactions between mobile agents. Fig. 2 : 2 RL policy.  ... 
doi:10.1109/icra.2017.7989037 dblp:conf/icra/ChenLEH17 fatcat:duqucw3ab5btdm5idvpaljrqqm

Decentralized Non-communicating Multiagent Collision Avoidance with Deep Reinforcement Learning [article]

Yu Fan Chen, Miao Liu, Michael Everett, Jonathan P. How
2016 arXiv   pre-print
Finding feasible, collision-free paths for multiagent systems can be challenging, particularly in non-communicating scenarios where each agent's intent (e.g. goal) is unobservable to the others.  ...  This work presents a decentralized multiagent collision avoidance algorithm based on a novel application of deep reinforcement learning, which effectively offloads the online computation (for predicting  ...  Collision avoidance is essential for coordinating multiagent systems and modeling interactions between mobile agents. Fig. 2 : 2 RL policy.  ... 
arXiv:1609.07845v2 fatcat:e4njfuo56ng5vmgfy5576jurdy

2019 Index IEEE Transactions on Systems, Man, and Cybernetics: Systems Vol. 49

2019 IEEE Transactions on Systems, Man & Cybernetics. Systems  
., +, TSMC Jan. 2019 238-252 Cooperative Adaptive Event-Triggered Control for Multiagent Systems With Actuator Failures.  ...  ., +, TSMC March 2019 589-599 Cooperative Adaptive Event-Triggered Control for Multiagent Systems With Actuator Failures.  ...  Open loop systems  ... 
doi:10.1109/tsmc.2019.2956665 fatcat:xhplbanlyne7nl7gp2pbrd62oi

Special Issue on Swarming in Natural and Engineered Systems [Scanning the Issue]

Randy A. Zachery, Shankar S. Sastry, Vijay Kumar
2011 Proceedings of the IEEE  
They further investigate the application of models derived from ant behaviors to cooperative manipulation by robotic systems. II.  ...  EYES IN THE SKY: DECENTRALIZED CONTROL FOR THE DEPLOYMENT OF ROBOTIC CAMERA NETWORKS Schwager et al. develop decentralized control policies for a group of aerial robots monitoring a specified area with  ... 
doi:10.1109/jproc.2011.2160108 fatcat:knmgdldh4vgtxgqqpd33n3gr3y

Emergent Intelligence via Self-Organization in a Group of Robotic Devices

Konstantin Amelin, Oleg Granichin, Anna Sergeenko, Zeev V. Volkovich
2021 Mathematics  
We focus on new decentralized control methods based on local communications in complex multiagent dynamical systems.  ...  In many applications, it is impossible (or difficult) to validate agent movement models and provide sufficiently reliable control actions at the elementary system components level.  ...  Revyakina for help in obtaining experimental results.  ... 
doi:10.3390/math9121314 fatcat:oyr47vvqjfb55dsvyvwwofq2jm

Table of Contents

2022 IEEE Transactions on Cybernetics  
Bit-Rate Conditions for the Consensus of Quantized Multiagent Systems Based on Event Triggering . . . . . . . . N. Lin and Q.  ...  Shang 240 Attentive Relational State Representation in Decentralized Multiagent Reinforcement Learning . . . . . . . . . . . . . . . X. Liu and Y.  ... 
doi:10.1109/tcyb.2021.3138650 fatcat:zwcf4txyx5dafbdtm6rayoeoae

Controlling tensegrity robots through evolution

Atil Iscen, Adrian Agogino, Vytas SunSpiral, Kagan Tumer
2013 Proceeding of the fifteenth annual conference on Genetic and evolutionary computation conference - GECCO '13  
These successful controls will form the basis for building high-performance tensegrity robots in the near future.  ...  performed with a variety of evolutionary algorithms in a detailed soft-body physics simulator show that a centralized evolutionary algorithm performs 400% better than a handcoded solution, while the multiagent  ...  In this paper, we introduce such a decentralized controller as a cooperative coevolutionary system, using principles derived from multiagent systems.  ... 
doi:10.1145/2463372.2463525 dblp:conf/gecco/IscenAST13 fatcat:n4eo6ooqanbw5f7sqowv6r2p4u
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