Chapter 40 Springer Handbook of Robotics, ©2008 Presented by:Shawn Kristek.
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Transcript of Chapter 40 Springer Handbook of Robotics, ©2008 Presented by:Shawn Kristek.
![Page 1: Chapter 40 Springer Handbook of Robotics, ©2008 Presented by:Shawn Kristek.](https://reader036.fdocuments.in/reader036/viewer/2022062409/56649ede5503460f94beede8/html5/thumbnails/1.jpg)
Chapter 40Springer Handbook of Robotics, ©2008
Presented by: Shawn Kristek
![Page 2: Chapter 40 Springer Handbook of Robotics, ©2008 Presented by:Shawn Kristek.](https://reader036.fdocuments.in/reader036/viewer/2022062409/56649ede5503460f94beede8/html5/thumbnails/2.jpg)
1. Task Complexity2. Distributed tasks3. Difficult to build ultimate robot4. Parallelism5. Robustness through redundancy
![Page 3: Chapter 40 Springer Handbook of Robotics, ©2008 Presented by:Shawn Kristek.](https://reader036.fdocuments.in/reader036/viewer/2022062409/56649ede5503460f94beede8/html5/thumbnails/3.jpg)
ArchitecturesCommunicationVarianceTask AllocationLearningApplications
![Page 4: Chapter 40 Springer Handbook of Robotics, ©2008 Presented by:Shawn Kristek.](https://reader036.fdocuments.in/reader036/viewer/2022062409/56649ede5503460f94beede8/html5/thumbnails/4.jpg)
ArchitecturesCommunicationVarianceTask AllocationLearningApplications
![Page 5: Chapter 40 Springer Handbook of Robotics, ©2008 Presented by:Shawn Kristek.](https://reader036.fdocuments.in/reader036/viewer/2022062409/56649ede5503460f94beede8/html5/thumbnails/5.jpg)
o Centralizedo Hierarchicalo Decentralizedo Hybrid
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Centralized
Single point of control
Works best when controller oversees other robots
X Vulnerable to single robot failureX Real-time difficulties due to communication requirements
http://rsl.engr.scu.edu/NewWeb/News/imagesSpr04/2004op2.jpg
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Hierarchical
Similar to military command
More resistant to single robot failures
X Vulnerable to upper-level single robot failure
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Decentralized
Most common Each robot’s actions based on localized data
Robust to single robot failure
X Global coherency difficult- Incorporated high-level goals difficult to revise
Matarić
http://www.dailyspeculations.com/wordpress/?p=1847
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Hybrid
Combinations of other architectures
Advantages of levels of control and localized control- Robust to failures- Global coherency
DIRA
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ArchitecturesCommunication
VarianceTask AllocationLearningApplications
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o Stigmergyo Passive action recognitiono Explicit
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Stigmergy
Sense through the world
Simple No communication channels & protocols
X Limited by robot’s perception
Melhuish and Holland
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Passive action recognition
Communication through observation
No limited bandwidth No fallible mechanism
X Limited by robot’s perceptionX Difficult to analyze actions
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Explicit
Direct communication- Synchronize actions- Exchange information- Negotiate
Directness Ease of acquiring knowledge of teammates
X Noisy, limited-bandwidth channel
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ArchitecturesCommunication
VarianceTask AllocationLearningApplications
![Page 16: Chapter 40 Springer Handbook of Robotics, ©2008 Presented by:Shawn Kristek.](https://reader036.fdocuments.in/reader036/viewer/2022062409/56649ede5503460f94beede8/html5/thumbnails/16.jpg)
o Swarm Robots – Homogeneouso Heterogeneous
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Swarm RoboticsCollective robotics
Typically homogeneous Biologically inspired
- Ants- Bees
Stigmergic Redundant
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Heterogeneous
More realistic: - Heterogeneity may emerge in homogeneous systems
Provides various capabilities Can reduce costs
X Unavoidable
Parker
Grabowski
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ArchitecturesCommunicationVariance
Task AllocationLearningApplications
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o Taxonomyo Approaches
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TaxonomyGerkey and Matarić Tasks
- SR: Single-robot task- MR: Multirobot task
Robots- ST: Single-task robot- MT: Multitask robot
Allocation Optimization- IA: Instantaneous Assignment- TA: Time-extended Assignment
SR-ST-IA
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Approaches
Behavior-Based Market-Based
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Behavior-Based
Decentralized architecture Avoids explicit communication Task Allocation
- Current state- Teammate capabilities
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Market-Based
Negotiation/bidding based Greedily assigned to robot with highest utility Most focus on SR-ST-IA/TA
Centralized or Hybrid architecture Explicit communication
M+ architecture of Botelho and Alami- First for multirobot- Individual plans merged for team benefit
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ArchitecturesCommunicationVarianceTask Allocation
LearningApplications
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Many difficulties- Exponential state spaces- Limited training time- Insufficient data- Uncertainty- Merging information
Applied Applications- Multitarget observation- Box pushing- Multirobot soccer
Techniques- Reinforcement- Parameter tuning- Particle swarm optimization
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ArchitecturesCommunicationVarianceTask AllocationLearning
Applications
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o Foraging & Coverageo Flocking & Formationso Box Pushing & Cooperative Manipulationo Multitarget Observationo Traffic Control & Multirobot Path Planningo Soccer
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Foraging & Coverage
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Flocking & Formations
http://static.guim.co.uk/Guardian/environment/gallery/2007/nov/07/wildlife/[email protected]
Formation Control
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Box Pushing & Cooperative Manipulation
Kube
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Multitarget Observation
Spletzer and Taylor
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Traffic Control & Multirobot Path Planning
Bruce and Veloso
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Soccer
Bruce and Veloso
RoboCup
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