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On the completeness of ensembles of motion planners for decentralized planning
2013
2013 IEEE International Conference on Robotics and Automation
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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
2015
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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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
2019
Astrobiology
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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
2013
Robotics: Science and Systems IX
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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]
2014
arXiv
pre-print
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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
2021
Maǧallaẗ Al-Kuwayt li-l-ʿulūm
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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
2013
International Journal of Advanced Robotic Systems
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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]
2010
Lecture Notes in Computer Science
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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]
2021
arXiv
pre-print
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; (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
2017
2017 IEEE Aerospace Conference
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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]
1997
arXiv
pre-print
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, 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]
2016
arXiv
pre-print
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, 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]
2018
arXiv
pre-print
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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
2012
2012 IEEE International Conference on Robotics and Automation
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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
2006
Applied intelligence (Boston)
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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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