Distributed Autonomous Robotic Systems 4 de L.E. Parker

Distributed Autonomous Robotic Systems 4

L.E. Parker

George Bekey

J. Barhen

The Fifth International Symposium on Distributed Autonomous Robotic Systems (DARS 2000) dealt with new strategies to realize complex, modular, robust, and fault-tolerant robotic systems. Technologies, algorithms, and system architectures for distributed autonomous robotic systems were presented and discussed during the meeting. DARS 2000 was truly an international event, with participants represent ing eleven countries from Europe, Asia, and the Americas. All of the papers in this volume were presented at DARS 2000, and were selected on the basis of peer re views to ensure quality and relevance. These papers have the common goal of con tributing solutions to realize robust and intelligent multirobot systems. The topics of the symposium address a wide range of issues that are important in the development of decentralized robotic systems. These topics include architec tures, communication, biological inspirations, reconfigurable robots, localization, exploration and mapping, distributed sensing, multi robot motion coordination, tar get assignment and tracking, multirobot learning, and cooperative object transport. DARS clearly requires a broad area of interdisciplinary technologies related not only to robotics and computer engineering, but also to biology and psychology. The DARS symposium is the leading established conference on distributed au tonomous systems. The First, Second, and Third International Symposia on Distrib uted Autonomous Robotic Systems (DARS '92, DARS '94, and DARS '96) were held at the Institute of Physical and Chemical Research (RIKEN), Saitama, Japan.

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Cuprins

1: Introduction.- Current State of the Art in Distributed Autonomous Mobile Robotics.- 2: Architectures and Development Environments.- Control Architecture for an Underwater Robot Society.- Ayllu: Distributed Port-arbitrated Behavior-based Control.- An Architecture for Reactive Cooperation of Mobile Distributed Robots.- A Framework for Distributed Simulation of Multirobot Systems: The VLAB Experience.- Robots that Cooperatively Enhance Their Plans.- 3: Communication and Knowledge Sharing.- Performance Evaluation of Autonomous Knowledge Acquisition and Sharing by Intelligent Data Carriers System.- Collective Grounded Representations for Robots.- Effects of Static and Dynamic Variety in the Character of Robots on Group Intelligence of Multi-robot System.- Communication Fault Tolerance in Distributed Robotic Systems.- 4: Biological Inspirations.- Blazing a Trail: Insect-inspired Resource Transportation by a Robot Team.- Artificial Emotion and Social Robotics.- The Use of Biologically-Inspired Rules to Control a Collective Robotic Arm.- 5: Reconfigurable Robots.- Micro Self-Reconfigurable Robotic System using Shape Memory Alloy.- Autonomous and Self-Sufficient CONRO Modules for Reconfigurable Robots.- Motion Planning for a Modular Self-Reconfiguring Robotic System.- 6: Localization.- Distributed Multi-Robot Localization.- Distance Measurement in Multi-Robot Systems based on Time Shared Scheduling.- Relative Position Localizing System for Multiple Autonomous Mobile Robots in Distributed Robotic System.- Development of a Multiple Mobile Robot System Controlled by a Human -- Realization of Object Command Level.- 7: Exploration, Mapping, and Model Acquisition.- Autonomous Mobile Robots and Distributed Exploratory Missions.- Terrain Model Acquisition by Mobile Robot Teams and n-Connectivity.- Graph-Based Exploration using Multiple Robots.- Landmark-based Matching Algorithm for Cooperative Mapping by Autonomous Robots.- Comparing Distributed Exploration Strategies with Simulated and Real Autonomous Robots.- 8: Distributed Sensing.- Distributed Sensing and Data Collection via Broken Ad Hoc Wireless Connected Networks of Mobile Robots.- Experiments and Results in Multimodal, Distributed, Robotic Perception.- Cooperative Sentry Vehicles and Differential GPS Leapfrog.- 9: Multi-Robot Motion Coordination and Tracking.- Motion Coordination in Formations of Multiple Mobile Robots Using a Potential Field Approach.- Fly Spy: Lightweight Localization and Target Tracking for Cooperating Air and Ground Robots.- Dynamic Robot-Target Assignment -- Dependence of Recovering from Breakdowns on the Speed of the Selection Process.- Fuzzy Control of Distance and Motion Tracking Applied to Cooperative Autonomous Robots.- Broadcast of Local Eligibility for Multi-Target Observation.- A Communication-Free Behavior for Docking Mobile Robots.- 10: Multi-Robot Learning.- On Behavior Classification in Adversarial Environments.- Learning-Based Task Allocation in Decentralized Multirobot System.- Multi-Robot Learning in a Cooperative Observation Task.- Ultra-Fast Neural Network Training for Robot Learning from Uncertain Data.- 11: Cooperative Object Transport.- Object Transport Using Multiple Mobile Robots With Pin Joint Endeffectors.- Distributed Motion Generation for Two Omni-Directional Robots Carrying a Ladder.- Experimental Manufacturing of Object Transfer System “Magic Carpet” Consisting of Actuator Array with Autonomous Decentralized Control.- A Control Method of a Multiple Non-holonomic Robot System for Cooperative Object Transportation.- StructuralCharacteristics of Intelligence and Embodiment in Two-Mobile Robots System.- 12: Related Research Topics.- From Distributed Robot Perception to Human Topology: A Learning Model.- Reactive Sensor Networks.- Cooperation of Multiple Robots to Solve Maze Tasks.- Localizing a Wireless Node in a Multi-Agent System using Kalman Filtering.- Learning Cooperation from Human-Robot Interaction.- Susceptibility of Swarm Control Algorithms to Agent Failure.- The MICRobES Project, an Experimental Approach towards “Open Collective Robotics”.- Dynamic Task Selection: A Simple Structure for Multirobot system.- Author Index.