chapter 40 springer handbook of robotics, ©2008 presented by:shawn kristek
TRANSCRIPT
Chapter 40Springer Handbook of Robotics, ©2008
Presented by: Shawn Kristek
1. Task Complexity2. Distributed tasks3. Difficult to build ultimate robot4. Parallelism5. Robustness through redundancy
ArchitecturesCommunicationVarianceTask AllocationLearningApplications
ArchitecturesCommunicationVarianceTask AllocationLearningApplications
o Centralizedo Hierarchicalo Decentralizedo Hybrid
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
Hierarchical
Similar to military command
More resistant to single robot failures
X Vulnerable to upper-level single robot failure
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
Hybrid
Combinations of other architectures
Advantages of levels of control and localized control- Robust to failures- Global coherency
DIRA
ArchitecturesCommunication
VarianceTask AllocationLearningApplications
o Stigmergyo Passive action recognitiono Explicit
Stigmergy
Sense through the world
Simple No communication channels & protocols
X Limited by robot’s perception
Melhuish and Holland
Passive action recognition
Communication through observation
No limited bandwidth No fallible mechanism
X Limited by robot’s perceptionX Difficult to analyze actions
Explicit
Direct communication- Synchronize actions- Exchange information- Negotiate
Directness Ease of acquiring knowledge of teammates
X Noisy, limited-bandwidth channel
ArchitecturesCommunication
VarianceTask AllocationLearningApplications
o Swarm Robots – Homogeneouso Heterogeneous
Swarm RoboticsCollective robotics
Typically homogeneous Biologically inspired
- Ants- Bees
Stigmergic Redundant
Heterogeneous
More realistic: - Heterogeneity may emerge in homogeneous systems
Provides various capabilities Can reduce costs
X Unavoidable
Parker
Grabowski
ArchitecturesCommunicationVariance
Task AllocationLearningApplications
o Taxonomyo Approaches
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
Approaches
Behavior-Based Market-Based
Behavior-Based
Decentralized architecture Avoids explicit communication Task Allocation
- Current state- Teammate capabilities
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
ArchitecturesCommunicationVarianceTask Allocation
LearningApplications
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
ArchitecturesCommunicationVarianceTask AllocationLearning
Applications
o Foraging & Coverageo Flocking & Formationso Box Pushing & Cooperative Manipulationo Multitarget Observationo Traffic Control & Multirobot Path Planningo Soccer
Foraging & Coverage
Flocking & Formations
http://static.guim.co.uk/Guardian/environment/gallery/2007/nov/07/wildlife/[email protected]
Formation Control
Box Pushing & Cooperative Manipulation
Kube
Multitarget Observation
Spletzer and Taylor
Traffic Control & Multirobot Path Planning
Bruce and Veloso
Soccer
Bruce and Veloso
RoboCup
