Model-Based Development and Validation of Multirobot Cooperative System
COMMUNICATION IN MULTIROBOT TEAMS - BARATH CHRISTOPHER PETIT.
Transcript of COMMUNICATION IN MULTIROBOT TEAMS - BARATH CHRISTOPHER PETIT.
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COMMUNICATION IN MULTIROBOT TEAMS
- BARATH CHRISTOPHER PETIT
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PAPER
COMMUNICATION IN REACTIVE MULTIAGENT SYSTEMS -Tucker Balch and Ronald Arkin
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ISSUES
● Multiple robot teams are faster and reliable than a single robot system.
● Can communication between the robots in a multirobot team enhance the performance?
● What level of communication yields the best performance?(relative to the performance metrics being used to evaluate the performance.)
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PERFORMANCE EVALUATION
● Three benchmark tasks were devised to evaluate system performance, namely:
● FORAGE● CONSUME● GRAZING
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PERFORMANCE EVALUATION
● Six parameters for classification● TASK● COMMUNICATION TYPE● NUMBER OF ROBOTS● NUMBER OF ATTRACTORS● MASS OF ATTRACTORS● PERCENTAGE OF OBSTACLE COVERAGE
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THE FORAGE TASK
● Robot wanders in environment looking for items of interest (attractors).
● Once attractor is sighted, robot moves towards it, acquires it and finally returns it to specified home base.
● Mass of attractor dictates completion time.● Several robots can cooperate in carrying an attractor to
home base but speed of slowest robot will be the bottleneck.
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THE CONSUME TASK
● Similar to FORAGE but after acquiring the attractor the robot operates on the attractor instead of carrying it to a home base.
● Time to completion is proportional to mass of attractor.● Several robots can cooperate while operating or
'consuming' the attractor.● Rate of consumption is linear with number of operating
robots, (there is no ceiling).
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THE GRAZE TASK
● Unlike FORAGE, CONSUME there are no discrete attractors.
● Aim is to completely visit the environment (or some percentage of it).
● Time of completion dictated by size of the environment.● Multiple robots reduce time if they avoid previously
grazed areas and if they can sight ungrazed areas quickly.
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TASK PARAMETERS
● NUMBER OF ATTRACTORS (for FORAGE and CONSUME).
● MASS OF ATTRACTORS (for FORAGE and CONSUME).
● GRAZE COVERAGE (for GRAZE).
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COMPLEX TASKS
Complex tasks can be viewed as being a combination of simpler tasks like
foraging, consume or grazing.
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Wander Acquire
Deliver
Encounter
DepositAttach
The FORAGE FSA
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THE WANDER STATE
● Noise: high gain to maximize coverage.● Avoid-static-obstacle (for objects): high to avoid
collisions.● Avoid-static-obstacle (for robots) : high to avoid other
robots to ensure maximum and efficient area coverage.● Detect-attractor: a perceptual schema that is triggered
when an attractor is sighted, enabling the transition to the ACQUIRE state.
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THE ACQUIRE STATE
● Noise: low gain, to overcome local minimas● Avoid-static-obstacle (for objects): high to avoid
collisions with obstacles.● Avoid-static-obstacle (for robots): very low so that
robots can converge on same attractor to cooperate.● Move-to-goal: high to move to the detected attractor.● Detect-attachment: a perceptual schema that is triggered
when robot is close enough to attach to the attractor.
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THE DELIVER STATE
● Noise: low to overcome local minima.● Avoid-static-obstacle (for objects): high to avoid
collisions.● Avoid-static-obstacle (for robots): low to enable robots
to cooperate.● Move-to-goal: high (target is home base).● Detect-deposit: a perceptual schema that is triggered
when home base is reached.
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Wander Acquire
Consume
Encounter
CompleteAttach
The CONSUME FSA
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CONSUME
● WANDER and ACQUIRE states are similar to states in FORAGE but instead of DELIVER , the CONSUME state is used.
● In CONSUME, only one motor schema is active which reduces the mass of the attractor till it becomes zero.
● Once attractor is consumed, the robot transitions to the WANDER state.
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Wander Acquire
Graze
Encounter
Encounter grazed area Move to ungrazed part
The GRAZE FSA
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The GRAZE state
● Noise: low gain to overcome local minima.● Avoid-static-obstacle: (for objects) high to avoid
collision.● Avoid-static-obstacle: (for robots) very low to enable
robots to graze closeby.● Probe: moderate to enable robot to move along its
current heading.● Graze: the graze mechanism, which 'tags' the area being
grazed.● Detect-grazed-area: this triggers transition to WANDER.
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INTER–AGENT COMMUNICATION
● NO COMMUNICATION● STATE COMMUNICATION● GOAL COMMUNICATION
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NO COMMUNICATION
● Robots can sense other robots, obstacles and attractors.● However none of the information is transmitted to other
robots.● Note that robots can still cooperate (in tasks like foraging
and consume), as was shown by Arkin.
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STATE COMMUNICATION
● Robots can detect internal states of other robots.● Single bit communication: a one indicates that the robot
is in WANDER state, and a zero indicates a state other than WANDER.
● State communication need not be deliberate.
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GOAL COMMUNICATION
● Transmission and reception of goal information.● Needs to be deliberate, unlike previous two modes of
communication.● Robot can get to goal directly rather than follow the
sender robot (unlike state communication).
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PERFORMANCE METRICS
● COST: minimize system cost. Aims to reduce number of robots.
● TIME: minimizes completion time. Tends to increase number of robots.
● ENERGY: minimizes the energy expended in completing the task.
● RELIABILITY/SURVIVABILITY: Priority is on completion of task.
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BASELINE PERFORMANCE
● 3-dimensional plot● <number of robots, number of attractors, value of
metric>● Maximum time for single robot.● Minimum time for maximum robots.● In some cases, improvement in time with addition of
robots is not significant.● For given number of robots, it takes longer to complete
the task with more number of attractors.
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AMORTIZED COST METRIC
● If systems needs to be both fast and inexpensive, then thers is a tradeoff.
● In this case the metric is: N*300 + T.● N: number of robots.● T: Time taken.● The cost of each robot per run is taken as (for eg.) 300.● For FORAGE, a system with 2 robots is best for 3-4
attractors.
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SPEEDUP
● Measures efficiency of n robot team relative to a single robot system in performing a task.
● If attractors are fixed, then it is defined as : (time taken by 1 robot)/ (n * time taken by n robots).
● Speedup is higher for larger number of attractors.● Speedup is sublinear for CONSUME, but can be
superlinear for lower mass of attractors.● Speedup for GRAZE is mostly superlinear.
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RESULTS WITH COMMUNICATION
● FORAGE:State communication improved performance by 16%. Goal communication is better than state communication by 3%.
● CONSUME: State communication gives 10% improvement. Goal communication gives 6% improvement (over no communication).
● For low mass attractors, Goal communication almost indistinguishable from state communication.
● GRAZE: Communication has hardly any effect, due to implicit communication.
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RESULTS
● Initial testing on mobile robots support simulation results.
● Comunication improves performance in tasks with little implicit communication.
● Communication is not effective in tasks which include implicit communication.
● More complex strategies offer little or no benefit over low-level communication.