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3D multi-robot patrolling with a two-level coordination strategy

Luigi Freda, Mario Gianni, Fiora Pirri, Abel Gawel, Renaud Dubé, Roland Siegwart, Cesar Cadena
2019 Autonomous Robots  
Teams of UGVs patrolling harsh and complex 3D environments can experience interference and spatial conflicts with one another.  ...  This work presents a distributed multi-robot patrolling technique, which uses a two-level coordination strategy to minimize and explicitly manage the occurrence of conflicts and interference.  ...  Robot i computes the multi-robot clearance w Cl (x) as its clearance at x ∈ R 3 with respect to a) obstacles sensed at its current position p i 9 b) each teammate future trail P j , with j = i, such that  ... 
doi:10.1007/s10514-018-09822-3 fatcat:g7v7z3liyjhutlkd6t6z6xeldm

A ROS-Based Framework for Simulation and Benchmarking of Multi-robot Patrolling Algorithms [chapter]

David Portugal, Luca Iocchi, Alessandro Farinelli
2018 Studies in Computational Intelligence  
In this work, we present patrolling_sim, a ROS-based framework for simulation and benchmarking of multi-robot patrolling algorithms.  ...  Making use of Stage, a multirobot simulator, we provide tools for running, comparing, analyzing and integrating new algorithms for multi-robot patrolling.  ...  Also, a planar costmap, which is initialized with the static map, is used to represent obstacle data and the most recent sensor data, in order to maintain an updated view of the robots local and global  ... 
doi:10.1007/978-3-319-91590-6_1 fatcat:by4keeydb5h7jiegrk74nhxyri

Distributed multi-robot patrol: A scalable and fault-tolerant framework

David Portugal, Rui P. Rocha
2013 Robotics and Autonomous Systems  
References in multi-robot patrolling and coverage, map learning, graph-exploration and networked robots [1] .  ...  Thus, the Multi-Robot Patrolling Problem (MRPP) requires coordination of agents decision-making with the ultimate goal of achieving optimal group performance.  ...  modeled in simulations such as wheel slip, robot assembly properties or delays in processing sensor data and producing actuator commands.  ... 
doi:10.1016/j.robot.2013.06.011 fatcat:jduaybjcwffwdne5bnxzbshdze

Multi-robot persistent surveillance with connectivity constraints

Jurgen Scherer, Bernhard Rinner
2020 IEEE Access  
We consider the problem of multi-robot persistent surveillance with connectivity constraints where robots have to visit sensing locations periodically and maintain a multi-hop connection to a base station  ...  ), connectivity-constrained multi-robot reachability (CMR), and connectivity-constrained multi-robot reachability with relay dropping (CMRD), and show that they are all NP-hard on general graphs.  ...  Note that we have studied related patrolling problems of minimizing or constraining the delay between data generation at the robots and data arrival at the base station with relaxed connectivity constraints  ... 
doi:10.1109/access.2020.2967650 fatcat:2bylparo7fgungdgqufvvrusvy

Markov Chain-Based Stochastic Strategies for Robotic Surveillance [article]

Xiaoming Duan, Francesco Bullo
2020 arXiv   pre-print
The problem describes how mobile robots stochastically patrol a graph in an efficient way where the efficiency is defined with respect to relevant underlying performance metrics.  ...  The central objects that appear throughout the treatment is the hitting times of Markov chains, their distributions and expectations.  ...  In persistent surveillance tasks, mobile robots patrol and visit sites of interest in the environment to collect sensing data, detect anomalies or intercept intrusions  ... 
arXiv:2008.09050v1 fatcat:6nopdww7lrel3aqm35av743az4

An infrastructure for robotic applications as cloud computing services

Carla Mouradian, Fatima Zahra Errounda, Fatna Belqasmi, Roch Glitho
2014 2014 IEEE World Forum on Internet of Things (WF-IoT)  
Robotic applications are becoming ubiquitous. They are widely used in several areas (e.g., healthcare, disaster management, and manufacturing).  ...  After pinpointing the shortcoming of the state of the art, it proposes an architecture that enables cost efficiency through virtualization and dynamic task delegation to robots, including robots that might  ...  Robot Discovery Delay (IRDD) with different Number of Robots ...................................Figure 6-9 Idle Robot Discovery Delay (IRDD) with Different Number of IaaSs ............................  ... 
doi:10.1109/wf-iot.2014.6803195 dblp:conf/wf-iot/MouradianEBG14 fatcat:37g5i6yzrzgytg67rpztqsvjya

Cloud-Enhanced Robotic System for Smart City Crowd Control

Akhlaqur Rahman, Jiong Jin, Antonio Cricenti, Ashfaqur Rahman, Marimuthu Palaniswami, Tie Luo
2016 Journal of Sensor and Actuator Networks  
The sensor devices can also interconnect with each other and provide processed information (location, person of interest, object view, etc.) through local communication that would direct/assist the robot  ...  Cloud robotics in smart cities is an emerging paradigm that enables autonomous robotic agents to communicate and collaborate with a cloud computing infrastructure.  ...  Marimuthu Palaniswami and Tie Luo helped in drafting the paper with their expertise and experience. Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/jsan5040020 fatcat:nlylbympuvej3jih7lborussd4

BRACE: An assertion framework for debugging cyber-physical systems

Kevin Boos, Chien-Liang Fok, Christine Julien, Miryung Kim
2012 2012 34th International Conference on Software Engineering (ICSE)  
We discusses our experience implementing and using the framework with a mobile robot, and highlight key future research challenges.  ...  This process is tedious, error-prone, and lacks rigor.  ...  These delays represent the time required to read and store necessary state data and to perform a context switch between the CPS application and BRACE.  ... 
doi:10.1109/icse.2012.6227084 dblp:conf/icse/BoosFJK12 fatcat:odd4aqvfwvdlbeqcqla643jq2y

Multi-UAV Surveillance with Minimum Information Idleness and Latency Constraints

Jurgen Scherer, Bernhard Rinner
2020 IEEE Robotics and Automation Letters  
Index Terms-Multi-robot systems, motion and path planning, search and rescue robots.  ...  We discuss surveillance with multiple unmanned aerial vehicles (UAV) that minimize information idleness (the lag between the start of the mission and the moment when the data captured at a sensing location  ...  H2 outperforms the other heuristics with the expected behavior of a decreasing worst idleness with increasing values of the latency bound and the number of robots.  ... 
doi:10.1109/lra.2020.3003884 fatcat:se66gn5dyjesjo7oz3vt7x5gza

Multi-robot target detection and tracking: taxonomy and survey

Cyril Robin, Simon Lacroix
2015 Autonomous Robots  
Target detection and tracking encompasses a variety of decisional problems such as coverage, surveillance, search, patrolling, observing and pursuit-evasion along with others.  ...  In this article, our objective is to go beyond the frontiers of specific communities and specific problems, and to enlarge the scope of prior surveys.  ...  It is also worth noticing that their objectives differ from the traditional idleness: they interestingly assume that the intrusion cannot be preventde but only delayed, and try to maximize the expected  ... 
doi:10.1007/s10514-015-9491-7 fatcat:yqq75fwdkzdipelxpgtiz3ffba

Table of Contents

2020 2020 IEEE International Conference on Mechatronics and Automation (ICMA)  
Interface Speech Analysis of the Talking Robot with Human-like Artificial Vocal Tract Vo Nhu Thanh, Hideyuki Sawada Gesture Recognition based on BP Neural Network and Data Glove 1918 Qiang Fu, Jiajun  ...  Guoqing Xia, Binyuan Xia Model Reference Scheduling and Control Co-design with Random Delay 943 Shunli Zhao Disturbance Rejection Control 947 Yulong Chen, Xuesong Zhou, Youjie Ma Performance  ... 
doi:10.1109/icma49215.2020.9233874 fatcat:eif3diclc5gy3dvmbtirtfv2s4

A Dimensional Comparison between Evolutionary Algorithm and Deep Reinforcement Learning Methodologies for Autonomous Surface Vehicles with Water Quality Sensors

Samuel Yanes Luis, Daniel Gutiérrez-Reina, Sergio Toral Marín
2021 Sensors  
This study reveals that Deep Q-learning approaches exceed in efficiency for the Non-Homogeneous Patrolling Problem but with many hyper-parameters involved in the stability and convergence.  ...  A dimensionality study is addressed to compare the most common methodologies, Evolutionary Algorithm and Deep Reinforcement Learning, in different map scales and fleet sizes with changes in the environmental  ...  Deep Q-Learning and DDPG single-agent ASV [6] Patrolling Problem. Deep Q-Learning with CNNs single-agent ASV [25] Multi-agent Patrolling Problem.  ... 
doi:10.3390/s21082862 pmid:33921649 fatcat:gr2dujtydnhgtc3jqwtldlnlwm

A collective robotic architecture in search and rescue scenarios

Micael S. Couceiro, David Portugal, Rui P. Rocha
2013 Proceedings of the 28th Annual ACM Symposium on Applied Computing - SAC '13  
Multi-robot systems (MRS) may be very useful on assisting humans in many distributed activities, especially for search and rescue (SaR) missions in hazardous scenarios.  ...  In this paper, the effects of distributed group configurations are studied and results are drawn from collective exploration and collective inspection tasks in SaR scenarios, with the aim of understanding  ...  In recent literature, multi-robot coverage and patrol have received growing interest.  ... 
doi:10.1145/2480362.2480377 dblp:conf/sac/CouceiroPR13 fatcat:eqwzmc53jncfpfck7aunuc2dzy

Enabling Cyber Physical Systems with Wireless Sensor Networking Technologies

Chih-Yu Lin, Sherali Zeadally, Tzung-Shi Chen, Chih-Yung Chang
2012 International Journal of Distributed Sensor Networks  
CPSs have the ability to transform the way human-to-human, human-to-object, and object-to-object interactions take place in the physical and virtual worlds.  ...  Finally, we present some of the challenges that still need to be addressed to enable seamless integration of WSN with CPS designs.  ...  Acknowledgments We thank the anonymous reviewers for their valuable comments which helped to improve the quality and presentation of this paper.  ... 
doi:10.1155/2012/489794 fatcat:c44lui4ngzagxo6woawgnhtihe

Coordinating Aerial Robots and Unattended Ground Sensors for Intelligent Surveillance Systems

Edison Pignaton De Freitas, Tales Heimfarth, Rodrigo Schmidt Allgayer, Flávio Rech Wagner, Tony Larsson, Carlos Eduardo Pereira, Armando Morado Ferreira
2010 International Journal of Computers Communications & Control  
This usage is enhanced by employing sensors with different characteristics in terms of sensing, computing and mobility capabilities, working cooperatively in the network.  ...  This paper analyses surveillance systems based on a heterogeneous sensor network, which is composed by lowend ground sensor nodes and autonomous aerial robots, i.e.  ...  produced by piezoelectric sensors or accelerometers, which inform only if an object over a certain weight threshold passed over its sensing area.  ... 
doi:10.15837/ijccc.2010.1.2464 fatcat:f6z4am7qt5aqnp6odcm5klhywi
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