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Kilorobot Search and Rescue Using an Immunologically Inspired Approach
, 2002
"... This paper presents a new concept and simulated results for cooperatively coordinating autonomous robot teams via the Immunology-derived Distributed Autonomous Robotics Architecture (IDARA) to perform autonomous search and rescue operations. Primarily designed for the coordination and control of lar ..."
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This paper presents a new concept and simulated results for cooperatively coordinating autonomous robot teams via the Immunology-derived Distributed Autonomous Robotics Architecture (IDARA) to perform autonomous search and rescue operations. Primarily designed for the coordination and control of large-scale, kilorobot colonies, this architecture uses the unique stochastic learning and response mechanisms of the immune system as a basis to yield a more astute and adaptive response so that actions are varied from being reactionary to deliberative as indicated by environmental conditions and the architecture's perceived capabilities to address them. The IDARA architecture exhibits the guided stochastic search characteristics similar to those found in the human immune system. This characteristic was exploited to develop a series of methods for performing terrain search of dynamic environments. These methods were then evaluated in a variety of domains via computer simulations with robot colonies consisting of up to 1,500 robots. These experiments show that the IDARA architecture and framework provides a simple and robust method that is computationally efficient and does not degrade when coordinating and distributing large colonies of robots in either the terrain exploration and mapping or search and rescue problem domains. By providing new levels of scalability in noisy environments IDARA enables the full potential of micro-scale robotic for intelligent exploration, mapping, and search and rescue operations in a manner not afforded by traditional methods. 1
Affective Task Allocation for Distributed Multi-Robot Teams
, 2004
"... This article presents a novel emotion-based recruitment approach to the multi-robot task allocation problem. This approach requires less communication bandwidth than auction methods, enabling it to scale to large team sizes, and making it appropriate for low-power or stealth applications. Affective ..."
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This article presents a novel emotion-based recruitment approach to the multi-robot task allocation problem. This approach requires less communication bandwidth than auction methods, enabling it to scale to large team sizes, and making it appropriate for low-power or stealth applications. Affective recruitment is tolerant of unreliable communications channels, and can find better solutions than simple greedy schedulers (based on experimental metrics of the time necessary to complete recruitment and the total number of messages transmitted). Experimental results in simulation and on three UGVs and one UAV in a mine-detection task show that affective recruitment succeeds with network failure rates up to 25% and requires 32% fewer transmissions compared to existing methods on average. Affective recruitment also scales better with team size, requiring up to 61% fewer transmissions than a greedy instantaneous scheduler that has an O(n) communications complexity, without a significant increase in allocation time.
Hormone-Inspired Behaviour Switching for the Control of Collective Robotic Organisms
, 2013
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Bdi+e framework: An affective cognitive modeling for autonomous agents based on scherers emotion theory
- In Proceedings of KI06 26th German Annual Conference in Artificial Intelligence
, 2006
"... In this article, we propose the design of sensory motor level as part of a three-layered agent architecture inspired from the Multilevel Process Theory of Emotion (Leventhal 1979, 1980; Leventhal and Scherer, 1987). Our project aims at modeling emotions on an autonomous embodied agent, Petra, a more ..."
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In this article, we propose the design of sensory motor level as part of a three-layered agent architecture inspired from the Multilevel Process Theory of Emotion (Leventhal 1979, 1980; Leventhal and Scherer, 1987). Our project aims at modeling emotions on an autonomous embodied agent, Petra, a more robust robot than our previous prototype- Cherry. Our robot has been equipped with sonar and vision for obstacle avoidance as well as vision for face recognition, which are used when she roams around the hallway to engage in social interactions with humans. The sensory motor level receives and processes inputs and produces emotion-like states without any further willful planning or learning. We describe: (1) the psychological theory of emotion which inspired our design, (2) our proposed agent architecture, (3) the needed hardware additions that we implemented on the commercialized ActivMedia’s robot, (4) Petra’s multi-modal interface designed especially to engage humans in natural (and hopefully pleasant) social interaction, and finally (5) our future research efforts. NOTE: We only became recently aware of the KI CFP deadline and would like to inform the reviewers that our paper is not complete and that we will continue to improve on it in terms of formatting (along Springer LNAI guidelines) and content (as we simply did not have time to write it fully but the work is already performed). while we are waiting for the reviews back.
Disentangling the Effects of Robot Affect, Embodiment, and Autonomy on Human Team Members in a Mixed-Initiative Task
- In Proc. ACHI (2011
"... Abstract—Many future robotic scenarios will require robots to work with humans in teams. It is thus critical to ensure that those robots will be able to work effectively with humans. While various dimensions of robots such as autonomy, embodiment or interaction style have been investigated separatel ..."
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Abstract—Many future robotic scenarios will require robots to work with humans in teams. It is thus critical to ensure that those robots will be able to work effectively with humans. While various dimensions of robots such as autonomy, embodiment or interaction style have been investigated separately, no previous study has looked at those three dimensions together. In this paper, we report results from extensive experiments showing that all three dimensions interact in complex ways, thus demonstrating the insufficiency of exploring these dimensions individually. Based on the results, we conclude with suggestions for interaction designs and for future studies. Keywords-human-robot interaction; adjustable autonomy; embodiment; robot; simulation; affect; user study I.
A Survey on Reliability Estimation Techniques for Mobile Agent based Systems
"... Mobile Agent based Systems (MAS) is one of the fastest growing and emerging areas for application development in recent past. A mobile agent is a computer program that acts autonomously on behalf of a user or application moving in the heterogeneous communication environment. To ensure fault and fail ..."
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Mobile Agent based Systems (MAS) is one of the fastest growing and emerging areas for application development in recent past. A mobile agent is a computer program that acts autonomously on behalf of a user or application moving in the heterogeneous communication environment. To ensure fault and failure free operation of mobile agent based commercial applications, reliability issues need to be addressed. In this paper, we present a complete survey of various techniques for estimation of reliability of MAS on the basis of factors that affect it. The survey concludes that reliability estimation techniques of MAS developed so far are based on aggregation of certain combinations of attributes in a specific environment. But, due to complex and dynamic nature of MAS, there is a great potential of further research in the area of their reliability assessment.
An Alternate Priority Planning Algorithm for Dual- Arm Systems
"... Abstract-An alternate priority path planning algorithm for dual-manipulator systems is proposed in this paper. A master-slave architecture is used to deal with the coordination of two manipulators by alternately identifying configurations of the two manipulators. The proposed method utilizes a gener ..."
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Abstract-An alternate priority path planning algorithm for dual-manipulator systems is proposed in this paper. A master-slave architecture is used to deal with the coordination of two manipulators by alternately identifying configurations of the two manipulators. The proposed method utilizes a generalized potential field to evaluate repulsion between manipulators and obstacles in a workspace, so collision avoidance of the planned path can be guaranteed. The simulation results show that proposed algorithm is efficient, even in a narrow passage. Index Terms- dual-manipulator system, potential model, path planning, collision avoidance, 3-D workspace I.
A UNIFIED FRAMEWORK FOR SOLVING MULTIAGENT TASK ASSIGNMENT PROBLEMS
, 2008
"... Multiagent task assignment problem descriptors do not fully represent the co-plex interactions in a multiagent domain, and algorithmic solutions vary widely depending on how the domain is represented. This issue is compounded as related research fields contain descriptors that similarly describe mul ..."
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Multiagent task assignment problem descriptors do not fully represent the co-plex interactions in a multiagent domain, and algorithmic solutions vary widely depending on how the domain is represented. This issue is compounded as related research fields contain descriptors that similarly describe multiagent task assignment problems, including complex domain interactions, but generally do not provide the mechanisms needed to solve the multiagent aspect of task assignment. This research presents a unified approach to representing and solving the multiagent task assignment problem for complex problem domains. Ideas central to multiagent task allocation, project scheduling, constraint satisfaction, and coalition formation are combined to form the basis of the constrained multiagent task scheduling (CMTS) problem. Basic analysis reveals the exponential size of the solution space for a CMTS problem, approximated by O(2n(m+n)) based on the number of agents and tasks involved in a problem. The shape of the solution space is shown to contain
Emotions in a Cognitive Architecture for Human Robot Interactions
"... A robot architecture is proposed in which cognitive models of emotions are modelled in terms of conceptual spaces. The architecture has been implemented in a anthropomorphic robotic hand system. Experimental results are described related to an experimental setup in which the robot system plays Rock ..."
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A robot architecture is proposed in which cognitive models of emotions are modelled in terms of conceptual spaces. The architecture has been implemented in a anthropomorphic robotic hand system. Experimental results are described related to an experimental setup in which the robot system plays Rock Paper Scissor against a human opponent.
Coopetitive Multimedia Surveillance
"... Abstract. ‘Coopetitive ’ interaction strategy has been shown to give better results than similar strategies like ‘only cooperation’, ‘only competition’ etc [7]. However, this has been studied only in the context of visual sensors and for handling non-simultaneous events. In this paper, we study this ..."
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Abstract. ‘Coopetitive ’ interaction strategy has been shown to give better results than similar strategies like ‘only cooperation’, ‘only competition’ etc [7]. However, this has been studied only in the context of visual sensors and for handling non-simultaneous events. In this paper, we study this ‘coopetitive ’ strategy from a multimedia surveillance system perspective, wherein the system needs to utilize multiple heterogeneous sensors and also handle multiple simultaneous events. Applying such an interaction strategy to multimedia surveillance systems is challenging because heterogeneous sensors have different capabilities for performing different sub-tasks as well as dissimilar response times. We adopt a merit-cum-availability based approach to allocate various sub-tasks to the competing sensors which eventually cooperate to achieve the specified system goal. Also, a ‘coopetition ’ based strategy is adopted for effectively utilizing the information coming asynchronously from different data sources. Multiple simultaneous events (e.g. multiple intrusions) are handled by adopting a predictive strategy which estimates the exit time for each intruder and then uses this information for enhanced scheduling. The results obtained for two sets of surveillance experiments conducted with two active cameras and a motion sensor grid are promising. 1
