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Decentralised Coordination of Low-Power Embedded Devices Using the Max-Sum Algorithm
- In: 7 th International Conference on Autonomous Agents and Multi-Agent Systems (AAMAS-08
, 2008
"... This paper considers the problem of performing decentralised coordination of low-power embedded devices (as is required within many environmental sensing and surveillance applications). Specifically, we address the generic problem of maximising social welfare within a group of interacting agents. We ..."
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Cited by 96 (30 self)
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This paper considers the problem of performing decentralised coordination of low-power embedded devices (as is required within many environmental sensing and surveillance applications). Specifically, we address the generic problem of maximising social welfare within a group of interacting agents. We propose a novel representation of the problem, as a cyclic bipartite factor graph, composed of variable and function nodes (representing the agents’ states and utilities respectively). We show that such representation allows us to use an extension of the max-sum algorithm to generate approximate solutions to this global optimisation problem through local decentralised message passing. We empirically evaluate this approach on a canonical coordination problem (graph colouring), and benchmark it against state of the art approximate and complete algorithms (DSA and DPOP). We show that our approach is robust to lossy communication, that it generates solutions closer to those of DPOP than DSA is able to, and that it does so with a communication cost (in terms of total messages size) that scales very well with the number of agents in the system (compared to the exponential increase of DPOP). Finally, we describe a hardware implementation of our algorithm operating on low-power Chipcon CC2431 System-on-Chip sensor nodes.
Mobility Enhancements to the Scout Robot Platform
- Proc. of the IEEE Int’l Conf. on Robotics and Automation
, 2002
"... When a distributed robotic system is assigned to perform reconnaissance or surveillance, restrictions inherent to the design of an individual robot limit the system's performance in certain environments. Finding an ideal portable robotic platform capable of deploying and returning information i ..."
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Cited by 11 (4 self)
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When a distributed robotic system is assigned to perform reconnaissance or surveillance, restrictions inherent to the design of an individual robot limit the system's performance in certain environments. Finding an ideal portable robotic platform capable of deploying and returning information in spatially restrictive areas is not a simple task. The Scout robot, developed at the University of Minnesota, is a viable robotic platform for these types of missions. The small form factor of the Scout allows for deployment, placement, and concealment of a team of robots equipped with a variety of sensory packages.
Maximising sensor network efficiency through agent-based coordination of sense/sleep schedules
- In Workshop on Energy in Wireless Sensor Networks in conjuction with DCOSS
, 2008
"... Abstract—In this paper we consider the problem of max-imising the efficiency of a sensor network deployed for wide-area surveillance, by coordinating of the sense/sleep schedules of power constrained energy-harvesting sensor nodes. We propose a formal model of the wide-area surveillance problem that ..."
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Cited by 4 (2 self)
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Abstract—In this paper we consider the problem of max-imising the efficiency of a sensor network deployed for wide-area surveillance, by coordinating of the sense/sleep schedules of power constrained energy-harvesting sensor nodes. We propose a formal model of the wide-area surveillance problem that we face, and theoretically analyse the performance of a sensor network (i.e. the probability that an event within the environment is detected) in the case of (i) continuously powered, (ii) randomly coordinated, and (iii) optimal coordinated sensors. We show that coordinating the sense/sleep schedules of the sensors can yield a significant increase in the performance of the network. Hence, we demonstrate that we can appropriately decompose the system wide goal of maximising the probability that events are detected, in order that we can optimise it using generic decentralised agent-based coordination algorithms (specifically, one based on the max-sum algorithm) that use only local communication and com-putation. We empirically evaluate our approach in a simulated environment and show that this decentralised algorithm is able to successfully coordinate the sense/sleep schedule of sensors, while attaining results close to the theoretically indicated optimum. I.
Toward A User-Guided Manipulation Framework for High-DOF Robots with Limited Communication
"... Abstract—This paper presents our progress toward a user-guided manipulation framework for High Degree-of-Freedom robots operating in environments with limited communication. The system we propose consists of three components: (1) a user-guided perception interface which assists the user to provide t ..."
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Cited by 3 (1 self)
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Abstract—This paper presents our progress toward a user-guided manipulation framework for High Degree-of-Freedom robots operating in environments with limited communication. The system we propose consists of three components: (1) a user-guided perception interface which assists the user to provide task level commands to the robot, (2) planning algorithms that autonomously generate robot motion while obeying relevant constraints, and (3) a trajectory execution and monitoring system which detects errors in execution. We have performed quanti-tative experiments on these three components, and qualitative experiments of the entire pipeline with the PR2 robot rotating a valve for the DARPA Robotics Challenge. We ran 20 tests of the entire framework with an average run time of two minutes. We also report results for tests of each individual component. I.
tributed Artificial Intelligence General Terms Algorithms, Experimentation
"... This paper considers the problem of performing decentralised co-ordination of low-power embedded devices (as is required within many environmental sensing and surveillance applications). Specif-ically, we address the generic problem of maximising social wel-fare within a group of interacting agents. ..."
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This paper considers the problem of performing decentralised co-ordination of low-power embedded devices (as is required within many environmental sensing and surveillance applications). Specif-ically, we address the generic problem of maximising social wel-fare within a group of interacting agents. We propose a novel representation of the problem, as a cyclic bipartite factor graph, composed of variable and function nodes (representing the agents’ states and utilities respectively). We show that such representation allows us to use an extension of the max-sum algorithm to generate approximate solutions to this global optimisation problem through local decentralised message passing. We empirically evaluate this approach on a canonical coordination problem (graph colouring), and benchmark it against state of the art approximate and complete algorithms (DSA and DPOP). We show that our approach is robust to lossy communication, that it generates solutions closer to those of DPOP than DSA is able to, and that it does so with a commu-nication cost (in terms of total messages size) that scales very well with the number of agents in the system (compared to the exponen-tial increase of DPOP). Finally, we describe a hardware implemen-tation of our algorithm operating on low-power Chipcon CC2431 System-on-Chip sensor nodes.
Design Of The Umn Multi-Robot System
, 2002
"... Robotic reconnaissance and search and rescue are daunting tasks, especially in unknown and dynamic environments. The Scout is a robotic platform that is robust and flexible to operate in adverse and changing situations without revealing itself or disturbing the environment. The Scout can complete th ..."
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Robotic reconnaissance and search and rescue are daunting tasks, especially in unknown and dynamic environments. The Scout is a robotic platform that is robust and flexible to operate in adverse and changing situations without revealing itself or disturbing the environment. The Scout can complete these missions by utilizing its small form factor for effective deployment, placement, and concealment while being equipped with a variety of sensors to accommodate different objectives. Unfortunately, the Scout has a limited volume to share among power, locomotion, sensors, and communications. Several novel approaches addressing deficiencies in specific tasks have been implemented in specialized Scouts and will be discussed in this paper. By building a diverse team of specialized Scouts, the team's strengths outweigh an individual weakness.
Direction du
, 2009
"... exclusive license allowing Library and Archives Canada to reproduce, publish, archive, preserve, conserve, communicate to the public by telecommunication or on the Internet, loan, distribute and sell theses worldwide, for commercial or non-commercial purposes, in microform, paper, electronic and/or ..."
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exclusive license allowing Library and Archives Canada to reproduce, publish, archive, preserve, conserve, communicate to the public by telecommunication or on the Internet, loan, distribute and sell theses worldwide, for commercial or non-commercial purposes, in microform, paper, electronic and/or any other formats. L'auteur a accordé une licence non exclusive permettant à la Bibliothèque et Archives Canada de reproduire, publier, archiver, sauvegarder, conserver, transmettre au public par télécommunication ou par l'Internet, prêter, distribuer et vendre des thèses partout dans le monde, à des fins commerciales ou autres, sur support microforme, papier, électronique et/ou autres formats. The author retains copyright ownership and moral rights in this thesis. Neither the thesis nor substantial extracts from it may be printed or otherwise reproduced without the author's permission. L'auteur conserve la propriété du droit d'auteur et des droits moraux qui protège cette thèse. Ni la thèse ni des extraits substantiels de celle-ci ne doivent être imprimés ou autrement reproduits sans son autorisation. In compliance with the Canadian Privacy Act some supporting forms may have been removed from this thesis. While these forms may be included in the document page count, their removal does not represent any loss of content from the thesis. Conformément à la loi canadienne sur la protection de la vie privée, quelques formulaires secondaires ont été enlevés de cette thèse. Bien que ces formulaires aient inclus dans la pagination, il n'y aura aucun contenu manquant.
