Distributed Autonomous Robotic Systems 

About: Distributed Autonomous Robotic Systems is an academic conference. The conference publishes majorly in the area(s): Robot & Mobile robot. Over the lifetime, 458 publications have been published by the conference receiving 9661 citations.

Mobile Sensor Network Deployment using Potential Fields: A Distributed, Scalable Solution to the Area Coverage Problem

Abstract: This paper considers the problem of deploying a mobile sensor network in an unknown environment. A mobile sensor network is composed of a distributed collection of nodes, each of which has sensing, computation, communication and locomotion capabilities. Such networks are capable of self-deployment; i.e., starting from some compact initial configuration, the nodes in the network can spread out such that the area ‘covered’ by the network is maximized. In this paper, we present a potential-field-based approach to deployment. The fields are constructed such that each node is repelled by both obstacles and by other nodes, thereby forcing the network to spread itself throughout the environment. The approach is both distributed and scalable.

Cooperative Grasping and Transport Using Multiple Quadrotors

Abstract: In this paper, we consider the problem of controlling multiple quadrotor robots that cooperatively grasp and transport a payload in three dimensions.We model the quadrotors both individually and as a group rigidly attached to a payload. We propose individual robot control laws defined with respect to the payload that stabilize the payload along three-dimensional trajectories. We detail the design of a gripping mechanism attached to each quadrotor that permits autonomous grasping of the payload. An experimental study with teams of quadrotors cooperatively grasping, stabilizing, and transporting payloads along desired three-dimensional trajectories is presented with performance analysis over many trials for different payload configurations.

Current State of the Art in Distributed Autonomous Mobile Robotics

Abstract: As research progresses in distributed robotic systems, more and more aspects of multi-robot systems are being explored. This article surveys the current state of the art in distributed mobile robot systems. Our focus is principally on research that has been demonstrated in physical robot implementations. We have identified eight primary research topics within multi-robot systems — biological inspirations, communication, architectures, localization/mapping/exploration, object transport and manipulation, motion coordination, reconfigurable robots, and learning — and discuss the current state of research in these areas. As we describe each research area, we identify some key open issues in multi-robot team research. We conclude by identifying several additional open research issues in distributed mobile robotic systems.

Spreading Out: A Local Approach to Multi-robot Coverage

Abstract: The problem of coverage without a priori global information about the environment is a key element of the general exploration problem. Applications vary from exploration of the Mars surface to the urban search and rescue (USAR) domain, where neither a map, nor a Global Positioning System (GPS) are available. We propose two algorithms for solving the 2D coverage problem using multiple mobile robots. The basic premise of both algorithms is that local dispersion is a natural way to achieve global coverage. Thus, both algorithms are based on local, mutually dispersive interaction between robots when they are within sensing range of each other. Simulations show that the proposed algorithms solve the problem to within 5–7% of the (manually generated) optimal solutions. We show that the nature of the interaction needed between robots is very simple; indeed anonymous interaction slightly outperforms a more complicated local technique based on ephemeral identification.

Broadcast of Local Eligibility for Multi-Target Observation

Abstract: While various researchers have investigated group behavior of robots which are each controlled in a behavior-based manner, none have yet thoroughly investigated the possibilities of extending the port-arbitrated behavior (PAB) paradigm across networks of robots We present an extension to the well-defined PAB techniques of behavioral interaction which provides standard abstractions for messaging, inhibition, and suppression over IP networks The Broadcast of Local Eligibility is a general technique built from these abstractions that allows fully-distributed, flexible team coordination We present a BLE approach to the CMOMMT multi-target observation problem, implemented on a team of physical robots