D. Jung, G. Cheng, and A. Zelinsky. Experiments in Realising Cooperation between Autonomous Mobile Robots. In 5th International Symposium on Experimental Robotics (ISER), June 1997.  Home/Search   Document Details and Download   Summary   Related Articles   Check

.... is to identify the factors which in uence solvability of a given problem (the task) These questions have been extensively studied both experimentally and theoretically in the unlimited visibility setting, that is assuming that the robots are capable to sense ( see ) the entire space (e.g. see [4, 6, 10, 12]) In general and more realistically, robots can sense only a surrounding with a radius of bounded size. This setting, called the limited visibility case, is understandably more dicult, and only few algorithmic results are known [1, 11] In this paper we are interested in gathering: the basic ....

D. Jung, G. Cheng, and A. Zelinsky. Experiments in Realising Cooperation between Autonomous Mobile Robots. In 5th International Symposium on Experimental Robotics (ISER), June 1997.

....the simplicity of the robots and the kind of implicit communication adopted, potentially useful tasks can be performed. Furthermore, we can cite the ALLIANCE architecture of [24] the formation and navigation problems in multi robot teams of [2] the experiments in cooperative cleaning behavior of [19]. Our work arises from emergent behavior studies, in particular that of Mataric, as they motivate the simplicity of the agents under analysis. As mentioned earlier, this simplicity allows us to formally highlight by an algorithmic and computational viewpoint the minimal capabilities the agents ....

D. Jung, G. Cheng, and A. Zelinsky. Experiments in Realising Cooperation between Autonomous Mobile Robots. In ISER, 1997.

.... 2003 one large and powerful unit for many reasons: low costs in changing faulty units; ability to solve tasks otherwise unsolvable by a single unit [3,4] e.g. robots that have to move big objects [5] certain problems can be solved quicker [6] e.g. robots that are asked to clean a room [7]) for fault tolerance considerations; the decreased cost through simpler individual unit design. An extensive survey can be found in [8] One major question that arises is: How is it possible to properly coordinate these groups of units, such that they can together accomplish what they are asked ....

D. Jung, G. Cheng, A. Zelinsky, Experiments in Realising Cooperation between Autonomous Mobile Robots, in: Fifth International Symposium on Experimental Robotics (ISER), 1997, pp. 609--620, Barcelona, Catalonia.

....point is not fixed in advance. The GATHERING PROBLEM is one of the basic interaction primitives studied in a system populated by a set of autonomous mobile robots [7] The problem of coordinating a collection of autonomous mobile robots has been studied in robotics and in artificial intelligence [2, 6, 7]. Mostly, the problem is approached from an experimental point of view: algorithms are designed using mainly heuristics, and then tested either by means of computer simulations or with real robots. Neither proofs of correctness of the algorithms, nor any analysis of the relationship between the ....

.... (p;c; p ) p : p ; i : i 1; End While The successor of p, computed by Succ(p;O) is (refer to Figure 7) either the point p i 6= p on [c; p) such that dist(c; p i ) is minimal among all points p j 6= p on [c; p) with dist(c; p j ) dist(c; p) if such a point exists; or l 3 revSA[6] b g a SA[3] SA[1] SA[8] revSA[2] revSA[3] revSA[5] revSA[4] revSA[7] revSA[1] SA[4] Figure 6: Example of the string of angles computed by Compute SA(r 1 ; O) with a clockwise orientation of SEC. With a = 25 ; b = 60 , and g = 70 , we have SA(r 1 ; O) ....

D. Jung, G. Cheng, and A. Zelinsky. Experiments in Realising Cooperation between Autonomous Mobile Robots. In ISER, 1997.

.... 2003 one large and powerful unit for many reasons: low costs in changing faulty units; ability to solve tasks otherwise unsolvable by a single unit [3,4] e.g. robots that have to move big objects [5] certain problems can be solved quicker [6] e.g. robots that are asked to clean a room [7]) for fault tolerance considerations; the decreased cost through simpler individual unit design. An extensive survey can be found in [8] One major question that arises is: How is it possible to properly coordinate these groups of units, such that they can together accomplish what they are asked ....

D. Jung, G. Cheng, A. Zelinsky, Experiments in Realising Cooperation between Autonomous Mobile Robots, in: Fifth International Symposium on Experimental Robotics (ISER), 1997, pp. 609-620, Barcelona, Catalonia.

....point is not fixed in advance. The Gathering Problem is one of the basic interaction primitives studied in a system populated by a set of autonomous mobile robots [8] The problem of coordinating a collection of autonomous mobile robots has been studied in robotics and in artificial intelligence [2, 7, 8]. Mostly, the problem is approached from an experimental point of view: algorithms are designed using mainly heuristics, and then tested either by means of computer simulations or with real robots. Neither proofs of correctness of the algorithms, nor any analysis of the relationship between the ....

.... local clockwise and counterclockwise orientation) The successor of p, computed by Succ(p) is (refer to Figure 9) either the point p i 6= p on [c; p) such that dist(c; p i ) is minimal among all points p j 6= p on [c; p) with dist(c; p j ) dist(c; p) if such a point exists; or 14 r4 SA[7] r7 SA[6] r6 SA[5] r5 ff fi fl r8 ff fl ff SA[3] r3 fi SA[2] r1 SA[1] SA[8] r2 ff revSA[8] revSA[2] revSA[3] revSA[5] revSA[4] revSA[7] revSA[1] SA[4] Figure 8: Example of the string of angles computed by Compute SA(r 1 ) with a clockwise orientation of SEC . With ff = ....

[Article contains additional citation context not shown here]

D. Jung, G. Cheng, and A. Zelinsky. Experiments in Realising Cooperation between Autonomous Mobile Robots. In ISER, 1997.

.... of just one large and powerful unit for many reasons: low costs in changing faulty units; ability to solve tasks otherwise unsolvable by a single unit [6, 16] e.g. robots that have to move big objects [15] certain problems can be solved quicker [2] e.g. robots that are asked to clean a room [13]) for fault tolerance considerations; the decreased cost through simpler individual unit design. An extensive survey can be found in [4] One major question that arises is: How is it possible to properly coordinate these group of mobile robots, such that they can together accomplish what they ....

D. Jung, G. Cheng, and A. Zelinsky. Experiments in Realising Cooperation between Autonomous Mobile Robots. In 5th International Symposium on Experimental Robotics (ISER), June 1997. Barcelona, Catalonia.

.... of just one large and powerful unit for many reasons: low costs in changing faulty units; ability to solve tasks otherwise unsolvable by a single unit [7, 17] e.g. robots that have to move big objects [16] certain problems can be solved quicker [3] e.g. robots that are asked to clean a room [13]) for fault tolerance considerations; the decreased cost through simpler individual unit design. An extensive survey can be found in [5] One major question that arises is: How is it possible to properly coordinate these group of mobile robots, such that they can together accomplish what they ....

D. Jung, G. Cheng, and A. Zelinsky. Experiments in Realising Cooperation between Autonomous Mobile Robots. In 5th International Symposium on Experimental Robotics (ISER), June 1997. Barcelona, Catalonia.

....odometry information using a Kalman filter to obtain an estimate of the robot s position and orientation relative to the wall. This is then fed into a standard Proportional Integral Differential (PID) controller to track along the wall. The behaviour architecture used to navigate the robot (see [Jung 97] also uses the whiskers to detect landmarks, such as doors, corners, walls, poles etc. 2.2 Visual behaviour Joh also needs to navigate reliably around the laboratory without colliding with obstacles, people or Flo, and it has the advantage of vision. A number of visual behaviours were ....

Jung, David, Cheng, Gordon and Zelinsky, Alexander, "An Experiment in Realising Cooperation between Autonomous Mobile Robots", Fifth International Symposium on Experimental Robotics (ISER), Barcelona, Catelonia, June 1997.

....hardware vision system is described. This forms the basis for range and pose estimation using a 3D projective model. 1. INTRODUCTION As part of our research into behaviour architectures for cooperative multi robot systems, we are constructing a cleaning system using two autonomous mobile robots [Jung 97] There are numerous component behaviours implemented to support the basic cleaning task. Among them is the requirement for one robot to be aware of the other. This is realised by visual tracking, and estimating the range and pose, of the robot in its field of view in realtime. This paper briefly ....

.... systems utilise central control, others use complex negotiation schemes between agents, and yet others some combination of both [Kuniyoshi 94] Noreilis 92] Parker 94] Yuta 90] The behaviour architecture we have developed for distributed planning, ABBA, supports all the above mentioned paradigms [Jung 97b] However, we are particularly interested in heterogeneous agents that have identity, the capability to communicate, and can jointly plan cooperative behaviour without central control. Since the robots have identity, awareness of one robot by another can play a major role in these cooperative ....

Jung, David, Cheng, Gordon and Zelinsky, Alexander, "An Experiment in Realising Cooperation between Autonomous Mobile Robots", Fifth International Symposium on Experimental Robotics (ISER), Barcelona, Catelonia, June 1997.

No context found.

Jung, David, Cheng, Gordon and Zelinsky, Alexander, "An Experiment in Realising Cooperation between Autonomous Mobile Robots", Fifth International Symposium on Experimental Robotics (ISER), pp513-524, Barcelona, Catelonia, June 1997.

Online articles have much greater impact   More about CiteSeer.IST   Add search form to your site   Submit documents   Feedback  

CiteSeer.IST - Copyright Penn State and NEC