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3D multi-robot patrolling with a two-level coordination strategy
2019
Autonomous Robots
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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]
2018
Studies in Computational Intelligence
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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
2013
Robotics and Autonomous Systems
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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
2020
IEEE Access
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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]
2020
arXiv
pre-print
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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
2014
2014 IEEE World Forum on Internet of Things (WF-IoT)
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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
2016
Journal of Sensor and Actuator Networks
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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
2012
2012 34th International Conference on Software Engineering (ICSE)
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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
2020
IEEE Robotics and Automation Letters
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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
2015
Autonomous Robots
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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)
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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
2021
Sensors
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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
2013
Proceedings of the 28th Annual ACM Symposium on Applied Computing - SAC '13
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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
2012
International Journal of Distributed Sensor Networks
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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
2010
International Journal of Computers Communications & Control
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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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