Multi-Robot Systems. from Swarms to Intelligent Automata, Volume III: Proceedings from the 2005 International Workshop on Multi-Robot Systems

ISBN-13: 9781402033889 / Angielski / Twarda / 2005 / 299 str.

Lynne E. Parker; Frank E. Schneider; Alan C. Schultz

Opis

TheThird International Workshop on Multi-Robot Systems was held in March 2005 at the Naval Research Laboratory in Washington, D. C., USA. Bringing together leading researchers and government sponsors for three days of technicalinterchange on multi-robot systems, theworkshop follows two previous highly successful gatherings in 2002 and 2003. Likethe previous two workshops, the meeting began with presentations byvarious government p- gram managers describing application areas and programs with an interest in multi-robot systems. U. S. Government representatives were on handfrom theOf?ce of Naval Research and several other governmental of?ces. Top - searchers inthe ?eld then presented their current activities in many areas of multi-robot systems. Presentations spannedawide rangeof topics, incl- ing task allocation, coordination in dynamicenvironments, information/sensor sharing andfusion, distributed mapping and coverage, motion planning and control, human-robot interaction, and applications of multi-robot systems. All presentations were given in a single-track workshop format. This proce- ings documents the work presented at the workshop. The research presen- tions were followed by panel discussions, in which all participants interacted to highlight the challenges of this ?eld and to develop possible solutions. In addition to the invited research talks, researchers and students were given an opportunity to present their work at poster sessions. We would like to thank the Naval Research Laboratory for sponsoring this workshop and providing the - cilitiesforthesemeetingstotakeplace. WeareextremelygratefultoMagdalena Bugajska, Paul Wiegand, and Mitchell A. Potter, for their vital help (and long hours) in editing these proceedings and to Michelle Caccivio for providing the administrative support to the workshop.

Spis treści

Preface. Part I Task Allocation. The Generation of Bidding Rules for Auction-Based Robot Coordination. Craig Tovey, Michail G. Lagoudakis, Sonal fain, Sven Koenig. Issues in Multi-Robot Coalition Formation. Lovekesh Vig, Julie A. Adams. Sensor Network-Mediated Multi-Robot Task Allocation. Maxim A. Batalin and Gaurav S. Sukhatme. Part II Coordination in Dynamic Environments. Multi-Objective Cooperative Control of Dynamical Systems. Zhihua Qu, fing Wang, Richard A. Hull. Levels of Multi-Robot Coordination for Dynamic Environments. Cohn P. McMillen, Paul E. Rybski, Manuela M. Veloso. Parallel Stochastic Hill-Climbing with Small Teams. Brian P. Gerkey, Sebastian Thrun, Geoff Gordon. Toward Versatility of Multi-Robot Systems. Cohn Cherry and Hong Zhang. Part III Information/ Sensor Sharing and Fusion. Decentralized Communication Strategies. Maayan Roth, Reid Simmons, and Manuela Veloso. Improving Multirobot Multitarget Tracking. Matthew Powers, Ramp rasad Ravichandran, Frank Dehlaert, Tucker Baich. Enabling Autonomous Sensor-Sharing. Lynne E. Parker, Maureen Chandra, Fang Tang. Part IV Distributed Mapping and Coverage. Merging Partial Maps without Using Odometry. Francesco Amigoni, Simone Gasparini, Maria Gini. Distributed Coverage of Unknown/Unstructured Environments by Mobile Sensor Networks. Ioannis Rekleitis, Ai Peng New, Howie Choset. Part V Motion Planning and Control. Motion Planning with Safe Dynamics. James Bruce and Manuela Veloso. A Multi-Robot Testbed for Biologically-Inspired Cooperative Control. Rafael Fierro and Justin Clark, Dean Hougen and Sesh Commuri. Part VI Human-Robot Interaction. Task Switching and Multi-Robot Teams. Michael A. Goodrich, Morgan Quigley, Keryl Cosenzo. User Modeling for Principled Sliding Autonomy in Human-Robot Teams. Brennan Seilner, Reid Simmons, Sanjiv Singh. Part VII Applications. Multi-Robot Chemical Plume Tracing. Diana Spears, Dimitri Zarzhitsky, David Thayer. Deploying Air-Ground Multi-Robot Teamsin Urban Environments. L. Chaimowicz, A. Cowley, D. Gomez-Ibanez, B. Grochoisky, M.A. Hsieh, H. Hsu, J.F. Keller, V Kumar, R. Swaminathan, C.J. Taylor. Precision Manipulation with Cooperative Robots. Ashley Stroupe, Terry Huntsberger, Avi Okon, Hrand Aghazarian. Part VIII Poster Short Papers. A Robust Monte-Carlo Algorithm for Multi-Robot Localization. Vazha Amiranashvili, Gerhard Lakemeyer. A Dialogue-Based Approach to Multi-Robot Team Control. Nathanael Chambers, James Allen, Lucian Galescu, Hyuckchul Jung. Hybrid FSO/RF Networks for Mobile Robot Teams. Jason Derenick, Christopher Thorne, and John Spletzer. Swarming UAVS Behavior Hierarchy. Kuo-Chi Lin. The GNATs. Keith J. O‘Hara, Daniel B. Walker, and Tucker R. Balch. Role Based Operations. Brian Satterfield, Heeten Choxi, and Drew Housten. Ergodic Dynamics by Design. Dylan A. Shell, Chris V. Jones, Maja J. Matarie.