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152
The Open Motion Planning Library
, 2012
"... We describe the Open Motion Planning Library (OMPL), a new library for sampling-based motion planning, which contains implementations of many state-of-the-art planning algorithms. The library is designed in a way that allows the user to easily solve a variety of complex motion planning problems with ..."
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Cited by 90 (17 self)
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We describe the Open Motion Planning Library (OMPL), a new library for sampling-based motion planning, which contains implementations of many state-of-the-art planning algorithms. The library is designed in a way that allows the user to easily solve a variety of complex motion planning problems with minimal input. OMPL facilitates the addition of new motion planning algorithms and it can be conveniently interfaced with other software components. A simple graphical user interface (GUI) built on top of the library, a number of tutorials, demos and programming assignments have been designed to teach students about sampling-based motion planning. Finally, the library is also available for use through the
Analysis of dynamic task allocation in multi-robot systems
- The International Journal of Robotics Research
, 2006
"... Dynamic task allocation is an essential requirement for multi-robot systems operating in unknown dynamic environments. It allows robots to change their behavior in response to environmental changes or actions of other robots in order to improve overall system performance. Emergent coordination algor ..."
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Cited by 78 (6 self)
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Dynamic task allocation is an essential requirement for multi-robot systems operating in unknown dynamic environments. It allows robots to change their behavior in response to environmental changes or actions of other robots in order to improve overall system performance. Emergent coordination algorithms for task allocation that use only local sensing and no direct communication between robots are attractive because they are robust and scalable. However, a lack of formal analysis tools makes emergent coordination algorithms difficult to design. In this paper we present a mathematical model of a general dynamic task allocation mechanism. Robots using this mechanism have to choose between two types of task, and the goal is to achieve a desired task division in the absence of explicit communication and global knowledge. Robots estimate the state of the environment from repeated local observations and decide which task to choose based on these observations. We model the robots and observations as stochastic processes and study the dynamics of the collective behavior. Specifically, we analyze the effect that the number of observations and the choice of the decision function have on the performance of the system. The mathematical models are validated in a multi-robot multi-foraging scenario. The model’s predictions agree very closely with experimental results from sensor-based simulations. 1
Experiments with a large heterogeneous mobile robot team: Exploration, mapping, deployment and detection
- International Journal of Robotics Research
, 2006
"... We describe the design and experimental validation of a large heterogeneous mobile robot team built for the DARPA Software for Distributed Robotics (SDR) program. The core challenge for the SDR program was to develop a multi-robot system capable of carrying out a specific mission: to deploy a large ..."
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Cited by 77 (11 self)
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We describe the design and experimental validation of a large heterogeneous mobile robot team built for the DARPA Software for Distributed Robotics (SDR) program. The core challenge for the SDR program was to develop a multi-robot system capable of carrying out a specific mission: to deploy a large number of robots into an unexplored building, map the building interior, detect and track intruders, and transmit all of the above information to a remote operator. To satisfy these requirements, we developed a heterogeneous robot team consisting of approximately 80 robots. We sketch the key technical elements of this team, focusing on the novel aspects, and present selected results from supervised experiments conducted in a 600 m 2 indoor environment. 1
Massively multi-robot simulation in stage
, 2008
"... Stage is a C++ software library that simulates multiple mobile robots. Stage version 2, as the simulation backend for the Player/Stage system, may be the most commonly used robot simulator in research and university teaching today. Development of Stage version 3 has focused on improving scalability ..."
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Cited by 52 (7 self)
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Stage is a C++ software library that simulates multiple mobile robots. Stage version 2, as the simulation backend for the Player/Stage system, may be the most commonly used robot simulator in research and university teaching today. Development of Stage version 3 has focused on improving scalability, usability, and portability. This paper examines Stage’s scalability. We propose a simple benchmark for multi-robot simulator performance, and present results for Stage. Run time is shown to scale approximately linearly with population size up to 100,000 robots. For example, Stage simulates 1 simple robot at around 1,000 times faster than real time, and 1,000 simple robots at around real time. These results suggest that Stage may be useful for swarm robotics researchers who would otherwise use custom simulators, with their attendant disadvantages in terms of code reuse and transparency.
Socially assistive robotics for post-stroke rehabilitation
- Journal of Neuroengineering and Rehabilitation
, 2007
"... Background: Although there is a great deal of success in rehabilitative robotics applied to patient recovery post stroke, most of the research to date has dealt with providing physical assistance. However, new rehabilitation studies support the theory that not all therapy need be hands-on. We descri ..."
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Cited by 39 (16 self)
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Background: Although there is a great deal of success in rehabilitative robotics applied to patient recovery post stroke, most of the research to date has dealt with providing physical assistance. However, new rehabilitation studies support the theory that not all therapy need be hands-on. We describe a new area, called socially assistive robotics, that focuses on non-contact patient/user assistance. We demonstrate the approach with an implemented and tested post-stroke recovery robot and discuss its potential for effectiveness. Results: We describe a pilot study involving an autonomous assistive mobile robot that aids stroke patient rehabilitation by providing monitoring, encouragement, and reminders. The robot navigates autonomously, monitors the patient's arm activity, and helps the patient remember to follow a rehabilitation program. We also show preliminary results from a follow-up study that focused on the role of robot physical embodiment in a rehabilitation context. Conclusion: We outline and discuss future experimental designs and factors toward the development of effective socially assistive post-stroke rehabilitation robots. Background
An Open-Source Simulator for Cognitive Robotics Research: The Prototype of the iCub Humanoid Robot Simulator
"... This paper presents the prototype of a new computer simulator for the humanoid robot iCub. The iCub is a new open-source humanoid robot developed as a result of the “RobotCub ” project, a collaborative European project aiming at developing a new open-source cognitive robotics platform. The iCub simu ..."
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Cited by 37 (9 self)
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This paper presents the prototype of a new computer simulator for the humanoid robot iCub. The iCub is a new open-source humanoid robot developed as a result of the “RobotCub ” project, a collaborative European project aiming at developing a new open-source cognitive robotics platform. The iCub simulator has been developed as part of a joint effort with the European project “ITALK ” on the integration and transfer of action and language knowledge in cognitive robots. This is available open-source to all researchers interested in cognitive robotics experiments with the iCub humanoid platform.
ARGoS: A modular, multi-engine simulator for heterogeneous swarm robotics
- In Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’11
, 2011
"... The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsibility for any copyright breaches that may result from publication of this paper in the IRIDIA – Technical Report Series. IRIDIA is ..."
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Cited by 36 (29 self)
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The information provided is the sole responsibility of the authors and does not necessarily reflect the opinion of the members of IRIDIA. The authors take full responsibility for any copyright breaches that may result from publication of this paper in the IRIDIA – Technical Report Series. IRIDIA is not responsible for any use that might be made of data appearing in this publication. ARGoS:
Simbad: an Autonomous Robot Simulation Package for Education and Research
- in Proceedings of The Ninth International Conference on the Simulation of Adaptive Behavior (SAB'06). Roma, Italy - Springer's Lecture Notes in Computer Sciences / Artificial Intelligence series (LNCS/LNAI) n
, 2006
"... Abstract. Simbad is an open source Java 3d robot simulator for scientific and educational purposes. It is mainly dedicated to researchers and programmers who want a simple basis for studying Situated Artificial Intelligence, Machine Learning, and more generally AI algorithms, in the context of Auton ..."
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Cited by 31 (6 self)
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Abstract. Simbad is an open source Java 3d robot simulator for scientific and educational purposes. It is mainly dedicated to researchers and programmers who want a simple basis for studying Situated Artificial Intelligence, Machine Learning, and more generally AI algorithms, in the context of Autonomous Robotics and Autonomous Agents. It is is kept voluntarily readable and simple for fast implementation in the field of Research and/or Education. Moreover, Simbad embeds two stand-alone additional packages: a Neural
Autonomous door opening and plugging in with a personal robot
- in IEEE Int’l Conf. on Robotics and Automation
, 2010
"... Abstract — We describe an autonomous robotic system ca-pable of navigating through an office environment, opening doors along the way, and plugging itself into electrical outlets to recharge as needed. We demonstrate through extensive experimentation that our robot executes these tasks reliably, wit ..."
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Cited by 29 (1 self)
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Abstract — We describe an autonomous robotic system ca-pable of navigating through an office environment, opening doors along the way, and plugging itself into electrical outlets to recharge as needed. We demonstrate through extensive experimentation that our robot executes these tasks reliably, without requiring any modification to the environment. We present robust detection algorithms for doors, door handles, and electrical plugs and sockets, combining vision and laser sensors. We show how to overcome the unavoidable shortcoming of perception by integrating compliant control into manipulation motions. We present a visual-differencing approach to high-precision plug-insertion that avoids the need for high-precision hand-eye calibration. I.
Automatic synthesis of communication-based coordinated multi-robot systems
, 2004
"... Abstract — To enable the successful deployment of taskachieving multi-robot systems (MRS), coordination mechanisms must be utilized in order to effectively mediate the interactions between the robots and the task environment. Over the past decade, there have been a number of elegant experimentally d ..."
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Cited by 25 (5 self)
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Abstract — To enable the successful deployment of taskachieving multi-robot systems (MRS), coordination mechanisms must be utilized in order to effectively mediate the interactions between the robots and the task environment. Over the past decade, there have been a number of elegant experimentally demonstrated MRS coordination mechanisms. Most of these mechanisms have been task-specific in nature, typically providing only empirical insights into coordination design and little in the way of systematic techniques to assist in the design of coordinated MRS for new task domains. To fully realize the potentials of MRS, formally-grounded systematic techniques amenable to analysis are needed in order to facilitate the design of coordinated MRS. We address this problem by presenting a formal framework for describing and reasoning about coordination in a MRS. Using this principled foundation, we are developing a suite of general methods for automatically synthesizing the controllers of robots constituting a MRS such that the given task is performed in a coordinated fashion. This paper presents a method for the automatic synthesis of a specific type of controller, one that is stateless but capable of inter-robot communication. We also present a graph coloring-based approach for minimizing the number of necessary unique communication messages. The synthesis of such communicative controllers provides a means for assessing the uses and limitations of communication in MRS coordination. We present experimental validation of our formal approach of controller synthesis in a multi-robot construction domain through physically-realistic simulations and in real-robot demonstrations. I.
