Robot Teams: From Diversity to Polymorphism

This is a comprehensive volume on robot teams that will be the standard reference on multi-robot systems. The volume provides not only the essentials of multi-agent robotics theory but also descriptions of exemplary implemented systems demonstrating the key concepts of multi-robot research. Information is presented in a descriptive manner and augmented with detailed mathematical formulations, photos, diagrams, and source code examples.

Preface

ix

I Theoretical Foundations

1

(136)

A Taxonomy of Multirobot Systems

3

(20)

Why a Taxonomy Is Important

3

(5)

Dimensions of Robot Collective Taxonomies

8

(2)

A Taxonomy of Robot Collectives

10

(7)

The Power of Robot Collectives: Case Studies

17

(5)

Summary and Conclusions

22

(1)

Taxonomies of Multirobot Task and Reward

23

(14)

Task Impacts Multirobot Performance

23

(1)

The Difference Between Task and Reward

24

(1)

A Taxonomy of Multirobot Tasks

25

(5)

Classification of Example Tasks

30

(1)

A Taxonomy of Multirobot Reward

31

(4)

Summary and Conclusions

35

(2)

A Survey of Multiagent and Multirobot Systems

37

(56)

MAS and DAI

37

(2)

Multiagent Systems

39

(6)

Organization of Existing Work

45

(5)

Homogeneous Non-Communicating Multiagent Systems

50

(8)

Heterogeneous Non-Communicating Multiagent Systems

58

(10)

Homogeneous Communicating Multiagent Systems

68

(4)

Heterogeneous Communicating Multiagent Systems

72

(10)

Robotic Soccer

82

(10)

Summary and Conclusions

92

(1)

Measuring Robot Group Diversity

93

(44)

Measuring Diversity Enables New Research

93

(1)

The Meaning of Diversity

94

(2)

Simple Social Entropy

96

(5)

Limitations of Simple Social Entropy

101

(1)

Classification and Clustering

102

(5)

Hierarchic Social Entropy

107

(8)

Behavioral Difference

115

(7)

Simple Social Entropy in Simulated Soccer

122

(5)

Hierarchic Social Entropy in Multirobot Foraging

127

(7)

Summary and Conclusions

134

(3)

II Enabling Technologies

137

(154)

A Polymorphic Robot Team

139

(22)

Advantages of Polymorphism for Robot Teams

139

(4)

CONRO: A Polymorphic Robot

143

(2)

Design of the CONRO modules

145

(10)

Experimental Prototypes

155

(2)

The CONRO Modules and Robots

157

(2)

Summary and Conclusions

159

(2)

Collaborative Multirobot Localization

161

(30)

Probabilistic Robot Localization

161

(2)

Multirobot Localization

163

(7)

Sampling and Monte Carlo Localization

170

(5)

Probabilistic Detection Model

175

(3)

Experimental Results

178

(6)

Related Work

184

(2)

Summary and Conclusions

186

(5)

Techniques for Learning in Multirobot Teams

191

(46)

Multirobot Learning

191

(2)

Learning New Cooperative Behaviors

193

(22)

Learning for Parameter Adjustment

215

(20)

Summary and Conclusions

235

(2)

Symbol Grounding for Communication

237

(34)

Shared Grounding Enables Symbolic Communication

237

(1)

Cooperation and Communication

238

(8)

The System

246

(18)

A Critical Examination

264

(5)

Summary and Conclusions

269

(2)

Marsupial Robots

271

(20)

Motivation for Marsupialism

271

(3)

Heterogeneity in Marsupial Teams

274

(5)

Roles and Core Behaviors

279

(3)

Docking

282

(5)

Marsupials in the Field

287

(2)

Summary and Conclusions

289

(2)

III Robot Team Case Studies

291

(90)

Heterogeneous Teams of Modular Robots for Mapping and Exploration

293

(22)

Heterogeneous Robot Teams

293

(2)

The Millibots

295

(2)

Specialization and Collaboration

297

(4)

Collaboration

301

(6)

Mapping and Exploration

307

(2)

Results

309

(4)

Summary and Conclusions

313

(2)

Design and Evaluation of Robust Behavior-Based Controllers

315

(30)

Requirements for Robust Robot Teams

315

(1)

Research in Foraging

316

(2)

The Collection Task

318

(4)

The Homogeneous Controller

322

(3)

Spatio-Temporal Interactions

325

(2)

The Pack Controller

327

(4)

The Caste Controller

331

(4)

Analysis

335

(8)

Summary and Conclusions

343

(2)

Experiments with Cooperative Aerial-Ground Robots

345

(24)

Heterogeneous Teams for Surveillance and Reconnaissance

345

(2)

Subsystems

347

(3)

Control and Coordination Algorithms

350

(4)

Case Studies

354

(12)

Discussion and Related Work

366

(1)

Summary and Conclusions

367

(2)

Coordination of Heterogeneous Robots for Large-Scale Assembly

369

(12)

When Coordination is Required

369

(1)

Layered Architecture

370

(1)

Related Approaches

371

(1)

Testbed

372

(1)

Distributed Coordination

373

(2)

Distributed Visual Servoing

375

(5)

Summary and Conclusions

380

(1)

Bibliography

381

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Robot Teams: From Diversity to Polymorphism

Summary

Table of Contents

Supplemental Materials