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On the completeness of ensembles of motion planners for decentralized planning

Ross A. Knepper, Daniela Rus
2013 2013 IEEE International Conference on Robotics and Automation  
The planners are assumed to divide the total planning problem across some parameter space(s), such as task space, state space, action space, or time.  ...  We provide a set of sufficient conditions to establish the completeness of an ensemble of motion plannersthat is, a set of loosely-coupled motion planners that produce a unified result.  ...  The ability to "park" the robots for arbitrarily long enables them to execute a complete planning algorithm.  ... 
doi:10.1109/icra.2013.6631157 dblp:conf/icra/KnepperR13 fatcat:ph2dx5gkmfbsbh5xnf66hulb2e

Effective robot teammate behaviors for supporting sequential manipulation tasks

Bradley Hayes, Brian Scassellati
2015 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
We conclude with a discussion of applications and extensions to human-robot teaming scenarios.  ...  This results in the generation of supportive behaviors enabling a teammate to reduce cognitive and kinematic burdens during task completion.  ...  Our algorithm allows a supportive robot to drive its team to perform well even in the absence of intra-agent communication, with only coarse approximations of collaborators' kinematic abilities, while  ... 
doi:10.1109/iros.2015.7354288 dblp:conf/iros/HayesS15 fatcat:42v5zydopbafpojwturbpyejt4

Assessing the Acceptability of Science Operations Concepts and the Level of Mission Enhancement of Capabilities for Human Mars Exploration Extravehicular Activity

K.H. Beaton, S.P. Chappell, A.F.J. Abercromby, M.J. Miller, S.E. Kobs Nawotniak, A.L. Brady, A.H. Stevens, S.J. Payler, S.S. Hughes, D.S.S. Lim
2019 Astrobiology  
ConOps are the instantiation of operational design elements that guide the organization and flow of personnel, communication, hardware, software, and data products to enable a mission concept.  ...  Capabilities include the hardware, software, data products, and protocols that comprise and enable the ConOps.  ...  Teams were counterbalanced across four different communication study conditions.  ... 
doi:10.1089/ast.2018.1912 pmid:30840507 pmcid:PMC6442237 fatcat:zvbffvfgbzgofbwghllfni2rti

Fast Scheduling of Multi-Robot Teams with Temporospatial Constraints

Matthew Gombolay, Ronald Wilcox, Julie Shah
2013 Robotics: Science and Systems IX  
These systems must also be capable of replanning onthe-fly to adapt to disturbances in the schedule and to respond to people working in close physical proximity.  ...  New uses of robotics in traditionally manual manufacturing processes require the careful choreography of human and robotic agents to support safe and efficient coordinated work.  ...  The third change we make is to enable the user to specify a intra-task and subtask deadlines.  ... 
doi:10.15607/rss.2013.ix.049 dblp:conf/rss/GombolayWS13 fatcat:rskpaqp4bngdxoh7tenzdvexyq

The Metrics Matter! On the Incompatibility of Different Flavors of Replanning [article]

Kartik Talamadupula and David E. Smith and Subbarao Kambhampati
2014 arXiv   pre-print
In such cases, the agent's planning process must modify the plan under execution to make it amenable to the new conditions, and to resume execution.  ...  This brings up the replanning problem, and the various techniques that have been proposed to solve it.  ...  Real world examples where reverification complexity is of utmost importance abound, including machine-shop or factory-floor planning, planning for assistive robots and teaming, and planetary rovers.  ... 
arXiv:1405.2883v1 fatcat:qxpxqxskm5gqhgmnd5lopf5gdy

Prognostics-aware multi-robot route planning to extend the lifetime

U˘gur Yayan, Software Engineering Department, Eskisehir Osmangazi University, Eskisehir, Turkey, Ahmet Yazıcı, ˙Inci Sarıc¸ic¸ek, Computer Engineering Department, Eskisehir Osmangazi University, Eskisehir, Turkey, Industrial Engineering Department, Eskisehir Osmangazi University, Eskisehir, Turkey
2021 Maǧallaẗ Al-Kuwayt li-l-ʿulūm  
In this study, a Prognostics-aware Multi-Robot Route Planning (P-MRRP) algorithm is proposed for extending lifetime of the robot team.  ...  of the robot team.  ...  or replan a route.  ... 
doi:10.48129/kjs.13237 fatcat:gapmql53wvaorn7motoiydpsoi

Multi-Robot Coordination in Complex Environment with Task and Communication Constraints

Yabo Liu, Jianhua Yang, Yao Zheng, Zhaohui Wu, Min Yao
2013 International Journal of Advanced Robotic Systems  
We therefore propose the constraint-based approach (CoBA), a marketbased task allocation approach to enable multi-robot coordination in domains with temporal constraints between subtasks of a complex task  ...  An auction-clearing routine, which supports the AND/OR task tree with temporal constraints and direct/indirect task auction, is proposed to enable effective multi-robot task allocation in spite of various  ...  We also plan to carry out experiments with a large heterogeneous mobile robot team.  ... 
doi:10.5772/54379 fatcat:5sqc4rgkize3hjnykv5kseqa5y

Integrating Collective Work Aspects in the Design Process: An Analysis Case Study of the Robotic Surgery Using Communication as a Sign of Fundamental Change [chapter]

Anne-Sophie Nyssen, Adelaide Blavier
2010 Lecture Notes in Computer Science  
Secondly, we compared three teams with different level of expertise with the robotic system on a repeated surgery act in order to identify permanent and transitory changes.  ...  First, we compared verbal communication between surgeons in two conditions (laparoscopy and robotic surgery).  ...  In the two conditions (robotic and classical laparoscopy), the team members were identical.  ... 
doi:10.1007/978-3-642-11750-3_2 fatcat:3bjiu56yjralxgweodvfh6ydsu

NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge [article]

Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey Edlund, Muhammad Fadhil Ginting, Kamak Ebadi (+60 others)
2021 arXiv   pre-print
; (iv) global motion planning and exploration behavior; (i) risk-aware mission planning; (vi) networking and decentralized reasoning; and (vii) learning-enabled adaptation.  ...  This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARPA Subterranean Challenge  ...  We would like to thank the rest of Team CoSTAR, our collaborators, and advisors for their support, fruitful discussions and their contributions to the project.  ... 
arXiv:2103.11470v4 fatcat:rq2wgczzl5clphzgujjdbd3ywm

Minerva: User-centered science operations software capability for future human exploration

Matthew Deans, Jessica J. Marquez, Tamar Cohen, Matthew J. Miller, Ivonne Deliz, Steven Hillenius, Jeffrey Hoffman, Yeon Jin Lee, David Lees, Johannes Norheim, Darlene S. S. Lim
2017 2017 IEEE Aerospace Conference  
Scientists and mission operators were provided a suite of ground software tools that we refer to collectively as Minerva to carry out their work.  ...  Minerva provides capabilities for traverse planning and route optimization, timeline generation and display, procedure management, execution monitoring, data archiving, visualization, and search.  ...  Over the course of the BASALT project, we plan to evaluate existing capabilities and subsequently add new capabilities to enable integrated science and astronaut teams to conduct Mars-like EVA.  ... 
doi:10.1109/aero.2017.7943609 fatcat:zl6qmjj3mzgq7bdeiuqkss75ny

Towards Flexible Teamwork [article]

M. Tambe
1997 arXiv   pre-print
, and collective robotics.  ...  Finally, decision-theoretic communication selectivity in STEAM ensures reduction in communication overheads of teamwork, with appropriate sensitivity to the environmental conditions.  ...  I also thank ISI team members working on the RoboCup e ort for their support of the work reported in this article.  ... 
arXiv:cs/9709101v1 fatcat:mr6ukdeiencphhbmmilyjxkhou

A Survey of Research on Control of Teams of Small Robots in Military Operations [article]

Stuart Young, Alexander Kott
2016 arXiv   pre-print
, as opposed to larger vehicle-sized robots or micro-scale robots; - Utilization of moderately sized practical forces of 3-10 robots applicable to currently envisioned military ground operations; - Complex  ...  Specifically, we consider the following: - Command of practical small robots, comparable to current generation, small unmanned ground vehicles (e.g., PackBots) with limited computing and sensor payload  ...  For example, if a team of collaborating robots identifies the location of a sniper, the same robots could designate this point and enable a Soldier (after performing appropriate visual confirmation) to  ... 
arXiv:1606.01288v1 fatcat:iofrpbacyjao7bgvelhs3wxday

Simultaneous Task Allocation and Planning Under Uncertainty [article]

Fatma Faruq, Bruno Lacerda, Nick Hawes, David Parker
2018 arXiv   pre-print
probabilistic guarantees on the performance (and safe operation) of the team of robots under the resulting policy.  ...  Task allocation is performed simultaneously with planning, which provides more detailed information about individual robot behaviour, but also exploits independence between tasks to do so efficiently.  ...  INTRODUCTION In many service robot applications, such as intra-logistics, surveillance or stock monitoring, it is desirable for a collection of tasks to be allocated to a team of robots.  ... 
arXiv:1803.02906v2 fatcat:ovyiirkay5dejhzrycmdlumi7y

xBots: An approach to generating and executing optimal multi-robot plans with cross-schedule dependencies

G. Ayorkor Korsah, Balajee Kannan, Brett Browning, Anthony Stentz, M. Bernardine Dias
2012 2012 IEEE International Conference on Robotics and Automation  
In this paper, we present an approach to bounded optimal planning and flexible execution for a robot team performing a set of spatially distributed tasks related by temporal ordering constraints such as  ...  We demonstrate the capabilities of our approach on a team of three pioneer robots operating in an indoor environment.  ...  STNs have been used to enable flexible scheduling of the plans of individual agents operating as part of a team [13] .  ... 
doi:10.1109/icra.2012.6225234 dblp:conf/icra/KorsahKBSD12 fatcat:fsbc3x56zzddzla4k6i7ixpgxa

Achieving dynamic, multi-commander, multi-mission planning and execution

Eugene Santos, Scott A. DeLoach, Michael T. Cox
2006 Applied intelligence (Boston)  
MADGS lays the foundations for retrieving, analyzing, synthesizing, and disseminating information to commanders.  ...  Mixed-initiative planning . Distributed mission planning and execution . Intelligent resource allocation .  ...  We would also like to especially thank the reviewers for their comments which greatly improved this article.  ... 
doi:10.1007/s10489-006-0111-2 fatcat:f7bilwxrhjatrnbnrie5vl4p7q
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