Academic literature on the topic 'Communications multi-robots'
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Journal articles on the topic "Communications multi-robots"
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Patel, Jay, and Mae Seto. "CDMA-based multi-domain communications network for marine robots." Journal of the Acoustical Society of America 148, no. 4 (October 2020): 2510. http://dx.doi.org/10.1121/1.5146976.
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Pradhan, Buddhadeb, Nirmal Baran Hui, Diptendu Sinha Roy, Gautam Srivastava, and Jerry Chun-Wei Lin. "Game-Theoretic Strategic Coordination and Navigation of Multiple Wheeled Robots." ACM Transactions on Internet Technology 21, no. 4 (July 16, 2021): 1–15. http://dx.doi.org/10.1145/3450521.
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Multiple robots negotiating in a dynamic workspace may lead to collisions. To avoid such issues, multi-robot navigation and coordination becomes necessary but is computationally very challenging, particularly when there are many robots. This article addresses the problem of multi-robot navigation where individual robots require coordination. Although a few such attempts for modeling multi-robot coordination and navigation have been studied, this work proposes a game-theoretic coordination strategy, also referred to as strategic coordination. We make use of a genetic algorithm tuned fuzzy logic–based motion planner. The proposed strategic coordination strategy has been pitted against a basic potential field-based motion planner, also referred to as the heuristic method, for performance comparison. Results are compared through computer simulation with 8 to 17 robots at different rounds. From the obtained results, it was observed that the proposed coordination scheme’s efficacy is strong for a larger number of robots. In addition, the proposed strategic coordination scheme with the genetic-fuzzy-based motion planner was found to outperform other combinations as far as the quality of solutions and time to reach the goal positions. The computational complexity of different methods has also been compared and presented.
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Matos, Diogo, Pedro Costa, José Lima, and Paulo Costa. "Multi AGV Coordination Tolerant to Communication Failures." Robotics 10, no. 2 (March 27, 2021): 55. http://dx.doi.org/10.3390/robotics10020055.
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Most path planning algorithms used presently in multi-robot systems are based on offline planning. The Timed Enhanced A* (TEA*) algorithm gives the possibility of planning in real time, rather than planning in advance, by using a temporal estimation of the robot’s positions at any given time. In this article, the implementation of a control system for multi-robot applications that operate in environments where communication faults can occur and where entire sections of the environment may not have any connection to the communication network will be presented. This system uses the TEA* to plan multiple robot paths and a supervision system to control communications. The supervision system supervises the communication with the robots and checks whether the robot’s movements are synchronized. The implemented system allowed the creation and execution of paths for the robots that were both safe and kept the temporal efficiency of the TEA* algorithm. Using the Simtwo2020 simulation software, capable of simulating movement dynamics and the Lazarus development environment, it was possible to simulate the execution of several different missions by the implemented system and analyze their results.
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Xiao, Qi, Yunchuan Qin, Cheng Xu, and Kenli Li. "Secure Key Establishment Mechanism for Smart Sensing System Based Robots Network." Sensors 20, no. 7 (April 1, 2020): 1970. http://dx.doi.org/10.3390/s20071970.
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The smart robot is playing an increasingly important role in the social economy, and multi-robot systems will be an important development in robotics. With smart sensing systems, the communications between sensors, actuators, and edge computing systems and robots are prone to be attacked due to the highly dynamic and distributed environment. Since smart robots are often distributed in open environments, as well as due to their limited hardware resources and security protection capabilities, the security requirements of their keys cannot be met with traditional key distribution algorithms. In this paper, we propose a new mechanism of key establishment based on high-order polynomials to ensure the safe key generation and key distribution. Experiments show that the key establishment mechanism proposed in this paper guarantees the security of keys; its storage cost and communication cost are smaller than state-of-the-art mechanisms; and it allows robot components to join and leave the network dynamically, which is more suitable for multi-robot systems.
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Miura, Ryu, Toshinori Kagawa, Fumie Ono, Lin Shan, Takashi Matsuda, and Fumihide Kojima. "Propagation Measurements of Multi-Hop Command and Telemetry Communications System in the 169 MHz Band for Drones." Journal of Robotics and Mechatronics 33, no. 2 (April 20, 2021): 363–70. http://dx.doi.org/10.20965/jrm.2021.p0363.
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The 169 MHz band was assigned for unmanned vehicles such as robots and drones by the Ministry of Internal Affairs and Communications (MIC) in 2016 in Japan, according to the reallocation of the TV band from VHF (analog) to UHF (digital). This band is expected to have a long range and good diffraction characteristics during drone operation over a long range with obstacles such as buildings, trees, or terrains. In this paper, we present the prototype system and its propagation experiments of command and telemetry communications at 169 MHz, which is added to a multi-hop communication unit in the 920 MHz band developed previously to enhance the beyond line-of-sight (BLOS) operation performance for drones.
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Wang, Hui, Jieren Cheng, Yichen Xu, Sirui Ni, Zaijia Yang, and Jiangpeng Li. "A Secure and Efficient Multi-Object Grasping Detection Approach for Robotic Arms." Security and Communication Networks 2023 (June 1, 2023): 1–16. http://dx.doi.org/10.1155/2023/7723164.
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Robot grasping is one of the most important abilities of modern intelligent robots, especially industrial robots. However, most of the existing robot arm’s grasp detection work is highly dependent on their edge computing ability, and the safety problems in the process of grasp detection are not considered enough. In this paper, we propose a new robotic arm grasping detection model with an edge-cloud collaboration method. With the scheme of multi-object multi-grasp, our model improves the mission success ratio of grasping. The model can not only complete the compression of full-resolution images but also achieve image compression at a limited bit rate. The image compression ratio reaches 2.03%; the structural difference value is higher than 0.91, and our average detection speed reaches 13.62 fps. Furthermore, we have packaged our model as a functional package of the ROS operating system, which can be easily used in actual robotic arm operations. Our solution can be fully applied to other work of robots to promote the development of the field of robotics.
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Hamed, Oussama, Mohamed Hamlich, and Mohamed Ennaji. "Hunting strategy for multi-robot based on wolf swarm algorithm and artificial potential field." Indonesian Journal of Electrical Engineering and Computer Science 25, no. 1 (January 1, 2022): 159. http://dx.doi.org/10.11591/ijeecs.v25.i1.pp159-171.
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The cooperation and coordination in multi-robot systems is a popular topic in the field of robotics and artificial intelligence, thanks to its important role in solving problems that are better solved by several robots compared to a single robot. Cooperative hunting is one of the important problems that exist in many areas such as military and industry, requiring cooperation between robots in order to accomplish the hunting process effectively. This paper proposed a cooperative hunting strategy for a multi-robot system based on wolf swarm algorithm (WSA) and artificial potential field (APF) in order to hunt by several robots a dynamic target whose behavior is unexpected. The formation of the robots within the multi-robot system contains three types of roles: the leader, the follower, and the antagonist. Each role is characterized by a different cognitive behavior. The robots arrive at the hunting point accurately and rapidly while avoiding static and dynamic obstacles through the artificial potential field algorithm to hunt the moving target. Simulation results are given in this paper to demonstrate the validity and the effectiveness of the proposed strategy.
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Bae, Sanghyeon, Sunghyeon Joo, Junhyeon Choi, Jungwon Pyo, Hyunjin Park, and Taeyong Kuc. "Semantic Knowledge-Based Hierarchical Planning Approach for Multi-Robot Systems." Electronics 12, no. 9 (May 6, 2023): 2131. http://dx.doi.org/10.3390/electronics12092131.
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Multi-robot systems have been used in many fields by utilizing parallel working robots to perform missions by allocating tasks and cooperating. For task planning, multi-robot systems need to solve complex problems that simultaneously consider the movement of the robots and the influence of each robot. For this purpose, researchers have proposed various methods for modeling and planning multi-robot missions. In particular, some approaches have been presented for high-level task planning by introducing semantic knowledge, such as relationships and domain rules, for environmental factors. This paper proposes a semantic knowledge-based hierarchical planning approach for multi-robot systems. We extend the semantic knowledge by considering the influence and interaction between environmental elements in multi-robot systems. Relationship knowledge represents the space occupancy of each environmental element and the possession of objects. Additionally, the knowledge property is defined to express the hierarchical information of each space. Based on the suggested semantic knowledge, the task planner utilizes spatial hierarchy knowledge to group the robots and generate optimal task plans for each group. With this approach, our method efficiently plans complex missions while handling overlap and deadlock problems among the robots. The experiments verified the feasibility of the suggested semantic knowledge and demonstrated that the task planner could reduce the planning time in simulation environments.
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Gharbi, Atef, and Saleh M. Altowaijri. "A Multi-Robot-Based Architecture and a Trust Model for Intelligent Fault Management and Control Systems." Electronics 12, no. 17 (August 31, 2023): 3679. http://dx.doi.org/10.3390/electronics12173679.
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One of the most important challenges in robotics is the development of a Multi-Robot-based control system in which the robot can make intelligent decisions in a changing environment. This paper proposes a robot-based control approach for dynamically managing robots in such a widely distributed production system. A Multi-Robot-based control system architecture is presented, and its main features are described. Such architecture facilitates the reconfiguration (either self-reconfiguration ensured by the robot itself or distributed reconfiguration executed by the Multi-Robot-based system). The distributed reconfiguration is facilitated through building a trust model that is based on learning from past interactions between intelligent robots. The Multi-Robot-based control system architecture also addresses other specific requirements for production systems, including fault flexibility. Any out-of-control fault occurring in a production system results in the loss of production time, resources, and money. In these cases, robot trust is critical for successful job completion, especially when the work can only be accomplished by sharing knowledge and resources among robots. This work introduces research on the construction of trust estimation models that experimentally calculate and evaluate the trustworthiness of robots in a Multi-Robot system where the robot can choose to cooperate and collaborate exclusively with other trustworthy robots. We compare our proposed trust model with other models described in the literature in terms of performance based on four criteria, which are time steps analysis, RMSD evaluation, interaction analysis, and variation of total feedback. The contribution of the paper can be summarized as follows: (i) the Multi-Robot-based Control Architecture; (ii) how the control robot handles faults; and (iii) the trust model.
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Rajesh, M., S. R. Nagaraja, and P. Suja. "Multi – Robot Exploration Supported by Enhanced Localization with Reduction of Localization Error Using Particle Swarm Optimization." Journal of Wireless Mobile Networks, Ubiquitous Computing, and Dependable Applications 15, no. 1 (March 29, 2024): 202–15. http://dx.doi.org/10.58346/jowua.2024.i1.014.
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Exploration of an area by a group of robots is an active research field of robotics as multi-robot exploration is applied extensively in several real life scenarios. The major challenges in such exploration are the availability of communication infrastructure as communication plays a key role in the coordination of team of robots for effective coverage of the area under exploration. But in disaster affected scenarios, there will be no existing communication infrastructure available and this makes the exploration ineffective and time consuming. Another challenge is in the localization process each robot is carrying out to update the map as well as for exchange of information with other robots. In this paper, an enhanced Multi-robot exploration strategy is introduced. The base of the exploration strategy is two techniques. The first one being localization of each robot involved in the exploration and this is done with the help of trilateration where three anchors are required which will be setup before the exploration starts. The second part is navigation and avoiding overlapping or missing out sectors while exploring. This is done with help of a navigation policy called frontier cell based approach. Further to this, the exploration strategy is supported with localization error reduction scheme in which the localization error is reduced with the help of Particle Swarm Optimization (PSO). The entire scheme is simulated and exploration time is analyzed for the same environment in different obstacle density and different number of robots to perform exploration. The results show the scheme is better than many existing multi-robot exploration strategies. Precisely, the proposed scheme is able to reduce the localization error to a threshold level of 0.02cm or below which can be considered as novel contribution towards the exploration strategies.
Dissertations / Theses on the topic "Communications multi-robots"
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Matthias, Rene [Verfasser]. "An Integrated Communications-Architecture for Multi-Modular Self-Reconfigurable Robots / Rene Matthias." München : Verlag Dr. Hut, 2013. http://d-nb.info/1045988006/34.
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Abu-Aisheh, Razanne. "Context-Aware Information Gathering and Processing Towards Supporting Autonomous Systems in Industry 4.0 Scenarios." Electronic Thesis or Diss., Sorbonne université, 2023. http://www.theses.fr/2023SORUS022.
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Les environnements de l'industrie 4.0 se caractérisent par la coexistence d'un ensemble diversifié de dispositifs, notamment des capteurs, des écrans à réalité mixte, des robots, des drones et des objets intelligents. Ces systèmes doivent être capables de prendre de manière autonome les décisions critiques en temps voulu nécessaires à l'exécution de tâches complexes sans intervention humaine. Une application essentielle de l'industrie 4.0 est l'exploration et la cartographie multi-robots d'environnements inconnus, en particulier dans le cadre de missions critiques telles que la détection des dangers et la recherche et le sauvetage. Ces missions partagent le besoin d'atteindre une couverture complète de l'espace explorable dans le temps le plus court possible. Pour minimiser le temps de réalisation, les robots de la flotte doivent être capables d'échanger des informations sur l'environnement de manière fiable entre eux. Cependant, les algorithmes d'exploration et de cartographie existants souffrent d'inexactitudes et d'inefficacités en raison de leur manque de connaissance contextuelle de leur environnement, notamment en termes de communications, de leur manque de flexibilité et d'adaptabilité à l'environnement, et donc, de l'ajout d'un retard inutile à la mission en cours. Dans cette thèse, nous étudions l'impact de la connaissance des communications sur la performance des expéditions d'exploration et de cartographie multi-robots, en termes de temps de réalisation. Nous évaluons les recherches existantes dans ce domaine et démontrons l'impact de la non prise en compte des problèmes de communication lors de la conception de tels algorithmes. À partir de là, nous proposons Atlas, un algorithme d'exploration et de cartographie qui prend en compte de manière native la perte de paquets, avec un taux d'achèvement de 100 % même avec des taux de remise de paquets (PDR) aussi bas que 0,1. Cependant, Atlas ne peut pas, à lui seul, gérer les scénarios où la connectivité est complètement perdue. Cela ajoute également un retard important à l'achèvement de la mission, car les paquets perdus sont retransmis périodiquement jusqu'à ce qu'ils soient reçus. Une solution est le placement de relais. La plupart des recherches sur le placement de relais pour les expéditions multi-robots tendent à se répartir en deux catégories. Premièrement, le placement des relais en fonction de la communication, basé sur l'indicateur de force du signal reçu (RSSI) initial, est utilisé. Cependant, cela nécessite l'exécution d'une mission complète avant l'exploration pour trouver la position optimale des relais à placer. Deuxièmement, il faut maintenir une distance (spécifiée avant la mission) entre les relais et les robots d'exploration. Ces méthodes augmentent le temps nécessaire à l'exécution de la mission. La question de recherche devient : comment placer les relais pour maintenir une communication aussi fiable que possible, et aussi dynamiquement tout au long de la mission d'exploration sans connaissance préalable de l'environnement, de manière à réduire le retard de l'exploration et le temps de cartographie pour l'achèvement. Nous résolvons ce problème en proposant le "Connectivity Aware Relay Algorithm'' (CARA), un algorithme dynamique de placement de relais sensible au contexte qui ne nécessite aucune connaissance préalable de l'environnement. Nous avons développé un simulateur open-source pour les expéditions multi-robots que nous avons utilisé pour tester les deux algorithmes contre les algorithmes de pointe. L'utilisation d'Atlas et de CARA permet de réaliser une expédition multi-robot dynamique et contextuelle qui construit de manière autonome une carte d'un environnement totalement inconnu, tout en plaçant dynamiquement des relais lorsque cela est nécessaire pour maintenir la connectivité, qui surpasse les algorithmes de pointe, en termes de temps de réalisation, d'un facteur 10Industry 4.0 environments are characterized by the coexistence of a diverse set of devices, including sensors, mixed-reality displays, robots, drones, and smart objects. These systems must be capable of autonomously taking critical in-time decisions necessary to perform complex tasks without human input. One essential application for Industry 4.0 is multi-robot exploration and mapping of unknown environments, especially in critical missions such as hazard detection and search and rescue. These missions share the need to reach full coverage of the explorable space in the shortest time possible. To minimize completion time, robots in the fleet must be able to exchange information about the environment reliably with one another. However, existing exploration and mapping algorithms suffer from inaccuracies and inefficiencies due to their lack of contextual awareness of their surroundings, especially in terms of communications, lacking flexibility and adaptability to the environment, and hence, adding unnecessary delay to the mission at hand. In this thesis, we investigate the impact of communication awareness on the performance of multi-robot exploration and mapping expeditions, in terms of time to completion. We evaluate existing research in the field and demonstrate the impact of not considering communication impairments when designing such algorithms. From there, we propose Atlas, an exploration and mapping algorithm that natively takes packet loss into account, with a 100% completion ratio even with Packet Delivery Ratios (PDRs) as low as 0.1. However, Atlas on its own cannot handle scenarios where connectivity is completely lost. It also adds a significant delay to the completion of the mission, as lost packets keep getting re-transmitted periodically until they are received. One solution is relay placement. Most research on relay placement for multi-robot expeditions tend to fall into two categories. First, communication-aware relay placement based on initial Received Signal Strength Indicator (RSSI) is used. However, this requires running a full mission prior to the exploration to find the optimal position for the relays to be placed. Second, maintaining a distance (specified prior to the mission) between relays and exploration robots. These methods add to the time it takes to complete the mission. The research question becomes how can we place relays to maintain communication as reliable as possible, and also dynamically throughout the exploration mission without prior knowledge of the environment, in a way that reduces delay to the exploration and mapping time to completion. We solve this by proposing ``Connectivity Aware Relay Algorithm'' (CARA), a dynamic context-aware relay placement algorithm that does not require any prior knowledge of the environment. We developed an open-source simulator for multi-robot expeditions which we used to test both algorithms against state-of-the-art algorithms. Using both Atlas and CARA results in a dynamic context-aware multi-robot expedition that autonomously builds a map of a fully unknown environment, while dynamically placing relays when needed to maintain connectivity that outperforms state-of-the-art algorithms, in terms of time to completion, by a factor of 10
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Kuo, Victor. "Enabling Parallel Wireless Communication in Mobile Robot Teams." Thesis, The University of Sydney, 2013. http://hdl.handle.net/2123/9410.
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Wireless inter-robot communication enables robot teams to cooperatively solve complex problems that cannot be addressed by a single robot. Applications for cooperative robot teams include search and rescue, exploration and surveillance. Communication is one of the most important components in future autonomous robot systems and is essential for core functions such as inter-robot coordination, neighbour discovery and cooperative control algorithms. In environments where communication infrastructure does not exist, decentralised multi-hop networks can be constructed using only the radios on-board each robot. These are known as wireless mesh networks (WMNs). However existing WMNs have limited capacity to support even small robot teams. There is a need for WMNs where links act like dedicated point-to-point connections such as in wired networks. Addressing this problem requires a fundamentally new approach to WMN construction and this thesis is the first comprehensive study in the multi-robot literature to address these challenges. In this thesis, we propose a new class of communication systems called zero mutual interference (ZMI) networks that are able to emulate the point-to-point properties of a wired network over a WMN implementation. We instantiate the ZMI network using a multi-radio multi-channel architecture that autonomously adapts its topology and channel allocations such that all network edges communicate at the full capacity of the radio hardware. We implement the ZMI network on a 100-radio testbed with up to 20-individual nodes and verify its theoretical properties. Mobile robot experiments also demonstrate these properties are practically achievable. The results are an encouraging indication that the ZMI network approach can facilitate the communication demands of large cooperative robot teams deployed in practical problems such as data pipe-lining, decentralised optimisation, decentralised data fusion and sensor networks.
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Gantsou, Engoua Dhavy. "Communication interprocessus dans les systèmes coopératifs multi-robots : Mise en œuvre dans l'environnement lcoop." Valenciennes, 1990. https://ged.uphf.fr/nuxeo/site/esupversions/bafc973d-42b2-4fd8-a1c1-eebbedde48f8.
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En raison de la complexité des tâches robotiques, la coopération entre des entités ou sites constituant un système coopératif multi-robot ne peut être efficace que si les interactions sont gérées par un système de communication adapte. Le travail présenté dans cette thèse porte essentiellement sur l'aspect logiciel de la communication dans un environnement multi-robot. Pour permettre de dégager la problématique de la communication dans ce cadre, les notions essentielles à la description d'une tache robotique sont d'abord mises en évidence. Les concepts permettant d'exprimer la communication, la synchronisation des activités des sites (c'est-à-dire les processus) ainsi que d'autres aspects inhérents a la coopération sont examinés et des solutions proposées. L’étude des interactions entre les différents processus, dont l'activation en fonction des requêtes est représentée par une hiérarchie de processus, permet de définir la fonction de communication d'un site ainsi qu'un modèle de communication dynamique. Celui-ci est caractérisé par le fait que les communications ne sont assujetties ni à une connaissance préalable du nombre des sites, ni à celle de leur identité. L’architecture logicielle du système de communication est ensuite proposée; la fonction de communication étant, au niveau de chaque site, réalisée par une interface qui gère les communications inter-sites et une autre les communications intra-site. Pour la réalisation dans l'environnement lcoop, le logiciel est, en raison de la structure physique actuelle, conçu comme un seul programme ada
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rahman, md mahbubur. "Efficient Mission Planning for Robot Networks in Communication Constrained Environments." FIU Digital Commons, 2017. http://digitalcommons.fiu.edu/etd/3484.
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Many robotic systems are remotely operated nowadays that require uninterrupted connection and safe mission planning. Such systems are commonly found in military drones, search and rescue operations, mining robotics, agriculture, and environmental monitoring. Different robotic systems may employ disparate communication modalities such as radio network, visible light communication, satellite, infrared, Wi-Fi. However, in an autonomous mission where the robots are expected to be interconnected, communication constrained environment frequently arises due to the out of range problem or unavailability of the signal. Furthermore, several automated projects (building construction, assembly line) do not guarantee uninterrupted communication, and a safe project plan is required that optimizes collision risks, cost, and duration. In this thesis, we propose four pronged approaches to alleviate some of these issues: 1) Communication aware world mapping; 2) Communication preserving using the Line-of-Sight (LoS); 3) Communication aware safe planning; and 4) Multi-Objective motion planning for navigation.
First, we focus on developing a communication aware world map that integrates traditional world models with the planning of multi-robot placement. Our proposed communication map selects the optimal placement of a chain of intermediate relay vehicles in order to maximize communication quality to a remote unit. We also vi propose an algorithm to build a min-Arborescence tree when there are multiple remote units to be served. Second, in communication denied environments, we use Line-of-Sight (LoS) to establish communication between mobile robots, control their movements and relay information to other autonomous units. We formulate and study the complexity of a multi-robot relay network positioning problem and propose approximation algorithms that restore visibility based connectivity through the relocation of one or more robots. Third, we develop a framework to quantify the safety score of a fully automated robotic mission where the coexistence of human and robot may pose a collision risk. A number of alternate mission plans are analyzed using motion planning algorithms to select the safest one. Finally, an efficient multi-objective optimization based path planning for the robots is developed to deal with several Pareto optimal cost attributes.
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TALAMINI, JACOPO. "Artificial Intelligence Strategies in Multi-agent Reinforcement Learning and Robotic Agents Evolution." Doctoral thesis, Università degli Studi di Trieste, 2021. http://hdl.handle.net/11368/2982151.
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Most of the theoretical foundations which have contributed to shape Artificial Intelligence (AI) as we know it come from the last century.
The technological advancement of the last decades however, mainly in the form of faster parallel computation, larger memory units, and Big Data, has dramatically increased the popularity of AI within the research community.
Far from being only a pure object of research, AI has been successful in many fields of applications, and it has become deeply integrated into our daily experiences.
We live in a society in which on-demand content suggestions are tailored for each customer, where it is possible to order products online by chatting with bots.
Smart devices adapts to the owner behavior, the stock exchange brokers are algorithm based on predictive models, and the computers are able to discover new medicines and new materials.
Despite the amount of knowledge acquired on AI, there are still many aspects of it that we do not fully understand, such as the interplays within multiple autonomous agents scenarios, in which AIs learn and interact in a shared environment, while possibly being subjected to different goals.
In these scenarios the communication and the regulation of the autonomous agents are both extremely relevant aspects.
In this work we analyze in which way the language expressiveness affect how agents learn to communicate, to which extent the learned communication is affected by the scenario, and how to allow them to learn the optimal one.
We then investigate which communication strategies might be developed in different scenarios when driven by the individual goal, which might lead to improved equality in a cooperative scenario, or more inequality in a competitive one.
Another aspect that we consider is the ethics of multiple agents, to which we contribute by proposing a way to discourage unethical behaviors without disabling them, but instead enforcing a set of flexible rules to guide the agents learning.
AI success can be determined by its ability to adapt, which is an aspect that we consider in this work, relatively to the adaptation of autonomous soft robotic agents.
Soft robots are a new generation of nature-inspired robots more versatile and adaptable than the ones made of rigid joints, but the design and the control of soft robots can not be easily done manually.
To this extent we investigate the possibility of mimicking the evolution of biological beings, by adopting evolutionary meta-heuristics for optimizing these robots.
Specifically we propose to evolve a control algorithm that leverages the body complexity inherent to the soft robots through sensory data collected from the environment.
Considering the problem of designing adaptable soft robots, we propose an approach that allows to automatically synthesize robotic agents for solving different tasks, without needing to know them in advance.
Agent-based scenarios are powerful research tools that can be adopted also for approximating the behavior of biological actors.
Based on this possibility, we propose a model for the assessment of the publishing system indicators, which are currently used to evaluate authors and journals.
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Mahdoui, Chedly Nesrine. "Communicating multi-UAV system for cooperative SLAM-based exploration." Thesis, Compiègne, 2018. http://www.theses.fr/2018COMP2447/document.
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Dans la communauté robotique aérienne, un croissant intérêt pour les systèmes multirobot (SMR) est apparu ces dernières années. Cela a été motivé par i) les progrès technologiques, tels que de meilleures capacités de traitement à bord des robots et des performances de communication plus élevées, et ii) les résultats prometteurs du déploiement de SMR tels que l’augmentation de la zone de couverture en un minimum de temps. Le développement d’une flotte de véhicules aériens sans pilote (UAV: Unmanned Aerial Vehicle) et de véhicules aériens de petite taille (MAV: Micro Aerial Vehicle) a ouvert la voie à de nouvelles applications à grande échelle nécessitant les caractéristiques de tel système de systèmes dans des domaines tels que la sécurité, la surveillance des catastrophes et des inondations, la recherche et le sauvetage, l’inspection des infrastructures, et ainsi de suite. De telles applications nécessitent que les robots identifient leur environnement et se localisent. Ces tâches fondamentales peuvent être assurées par la mission d’exploration. Dans ce contexte, cette thèse aborde l’exploration coopérative d’un environnement inconnu en utilisant une équipe de drones avec vision intégrée. Nous avons proposé un système multi-robot où le but est de choisir des régions spécifiques de l’environnement à explorer et à cartographier simultanément par chaque robot de manière optimisée, afin de réduire le temps d’exploration et, par conséquent, la consommation d’énergie. Chaque UAV est capable d’effectuer une localisation et une cartographie simultanées (SLAM: Simultaneous Localization And Mapping) à l’aide d’un capteur visuel comme principale modalité de perception. Pour explorer les régions inconnues, les cibles – choisies parmi les points frontières situés entre les zones libres et les zones inconnues – sont assignées aux robots en considérant un compromis entre l’exploration rapide et l’obtention d’une carte détaillée. À des fins de prise de décision, les UAVs échangent habituellement une copie de leur carte locale, mais la nouveauté dans ce travail est d’échanger les points frontières de cette carte, ce qui permet d’économiser la bande passante de communication. L’un des points les plus difficiles du SMR est la communication inter-robot. Nous étudions cette partie sous les aspects topologiques et typologiques. Nous proposons également des stratégies pour faire face à l’abandon ou à l’échec de la communication. Des validations basées sur des simulations étendues et des bancs d’essai sont présentéesIn the aerial robotic community, a growing interest for Multi-Robot Systems (MRS) appeared in the last years. This is thanks to i) the technological advances, such as better onboard processing capabilities and higher communication performances, and ii) the promising results of MRS deployment, such as increased area coverage in minimum time. The development of highly efficient and affordable fleet of Unmanned Aerial Vehicles (UAVs) and Micro Aerial Vehicles (MAVs) of small size has paved the way to new large-scale applications, that demand such System of Systems (SoS) features in areas like security, disaster surveillance, inundation monitoring, search and rescue, infrastructure inspection, and so on. Such applications require the robots to identify their environment and localize themselves. These fundamental tasks can be ensured by the exploration mission. In this context, this thesis addresses the cooperative exploration of an unknown environment sensed by a team of UAVs with embedded vision. We propose a multi-robot framework where the key problem is to cooperatively choose specific regions of the environment to be simultaneously explored and mapped by each robot in an optimized manner in order to reduce exploration time and, consequently, energy consumption. Each UAV is able to performSimultaneous Localization And Mapping (SLAM) with a visual sensor as the main input sensor. To explore the unknown regions, the targets – selected from the computed frontier points lying between free and unknown areas – are assigned to robots by considering a trade-off between fast exploration and getting detailed grid maps. For the sake of decision making, UAVs usually exchange a copy of their local map; however, the novelty in this work is to exchange map frontier points instead, which allow to save communication bandwidth. One of the most challenging points in MRS is the inter-robot communication. We study this part in both topological and typological aspects. We also propose some strategies to cope with communication drop-out or failure. Validations based on extensive simulations and testbeds are presented
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Ajwad, Syed Ali. "Distributed control of multi-agent systems under communication constraints : application to robotics." Thesis, Poitiers, 2020. http://www.theses.fr/2020POIT2264.
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Les Systèmes Multi-Agents (SMA) ont gagné en popularité en raison de leur vaste gamme d'applications. Les SMA sont utilisés pour atteindre des objectifs complexes qui ne pourraient être atteints par un seul agent. La communication et l'échange d'informations entre les agents d'un SMA sont essentiels pour contrôler son comportement coopératif. Les agents partagent leurs informations avec leurs voisins pour atteindre un objectif commun, ils n'ont donc pas besoin d'unité centrale de surveillance. Cependant, la communication entre les agents est soumise à diverses contraintes pratiques. Ces contraintes incluent des périodes d'échantillonnage irrégulières et asynchrones et la disponibilité d'états partiels uniquement. Ces contraintes posent des défis théoriques et pratiques importants. Dans cette thèse, nous étudions deux problèmes fondamentaux liés au contrôle coopératif distribué, à savoir le consensus et le contrôle de formation pour un SMA à double intégrateur sous ces contraintes. On considère que chaque agent du réseau ne peut mesurer et transmettre son état de position qu'à des instants d'échantillonnage non uniformes et asynchrones. De plus, la vitesse et l'accélération ne sont pas disponibles. Dans un premier temps, nous étudions le problème du contrôle distribué du suivi de consensus. Un algorithme de suivi de leader basé sur l'observateur à temps discret continu est proposé. L'observateur estime la position et la vitesse de l'agent et de son voisin en temps continu à partir des données de position échantillonnées disponibles. Ces états estimés sont ensuite utilisés pour le calcul de l'entrée de commande. Les scénarios de topologie fixe et de topologie commutée sont discutés. Deuxièmement, un protocole de suivi de formation distribué basé sur le consensus est conçu pour réaliser des modèles de formation fixes et variant dans le temps. Le problème d'évitement de collision est également étudié dans cette thèse. Un mécanisme d'évitement de collision basé sur la fonction de potentiel artificiel (APF) est incorporé à l'algorithme de suivi de formation pour empêcher les collisions entre les agents tout en convergeant vers la position souhaitée. Enfin, les algorithmes proposés sont appliqués sur un réseau multi-robots, composé de robots à entraînement différentiel utilisant Robot Operating System (ROS). Un nouveau schéma est proposé pour faire face aux contraintes non holonomiques du robot. L'efficacité des algorithmes sont démontrées à la fois par des résultats de simulation et des expérimentationsMulti-agent systems (MAS) have gained much popularity due to their vast range of applications. MAS is deployed to achieve more complex goals which could not be realized by a single agent alone. Communication and information exchange among the agents in a MAS is crucial to control its cooperative behavior. Agents share their information with their neighbors to reach a common objective, thus do not require any central monitoring unit. However, the communication among the agents is subject to various practical constraints. These constraints include irregular and asynchronous sampling periods and the availability of partial states only. Such constraints pose significant theoretical and practical challenges. In this thesis, we investigate two fundamental problems related to distributed cooperative control, namely consensus and formation control, of double-integrator MAS under these constraints. It is considered that each agent in the network can measure and transmit its position state only at nonuniform and asynchronous sampling instants. Moreover, the velocity and acceleration are not available. First, we study the problem of distributed control of leader-following consensus. A continuous-discrete time observer based leader-following algorithm is proposed. The observer estimates the position and velocity of the agent and its neighbor in continuous time from the available sampled position data. Then these estimated states are used for the computation of the control input. Both fixed and switching topology scenarios are discussed. Secondly, a consensus based distributed formation tracking protocol is designed to achieve both fixed and time-varying formation patterns. Collision avoidance problem is also studied in this thesis. An Artificial Potential Function (APF) based collision avoidance mechanism is incorporated with the formation tracking algorithm to prevent collisions between the agents while converging to a desired position. Finally, the proposed algorithms are applied on a multi-robot network, consisting of differential drive robots using Robot Operating System (ROS). A new scheme is proposed to deal with nonholonomic constraints of the robot. Efficiency of the designed algorithms and their effectiveness in real world applications are shown through both simulation and hardware results
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Parodi, Olivier. "Simulation hybride pour la coordination de véhicules hétérogènes au sein d'une flottille." Phd thesis, Université Montpellier II - Sciences et Techniques du Languedoc, 2008. http://tel.archives-ouvertes.fr/tel-00373347.
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Si l'utilisation d'un véhicule autonome présente un intérêt certain, l'utilisation simultanée de plusieurs robots, potentiellement différents permet d'améliorer la qualité des acquisitions et la rapidité avec lesquelles elles sont effectuées. Le déploiement de plateformes multi-capteurs sous-entend donc qu'il est nécessaire de mettre en œuvre une commande et une stratégie de commande coordonnée de la formation. Les difficultés de localisation et de communication rendent d'emblée la tâche difficile. Dès lors, il n'est plus concevable de mettre en œuvre une flottille d'engins autonomes sans avoir testé au préalable la faisabilité de la mission, le comportement logico-temporel du contrôleur des engins, l'efficacité des algorithmes employés et le bon fonctionnement de tous les sous-systèmes. Ceci est d'autant plus vrai lorsque les engins sont hétérogènes, proviennent d'organisations ou d'institutions différentes et sont rassemblés pour l'accomplissement d'une mission commune.La complexité des architectures de contrôle d'une part et les difficultés soulevées par le choix de stratégies de contrôle multi-véhicules d'autre part, rendent nécessaires la création de nouveaux outils de simulation permettant de tester et valider lois de commande et architectures de contrôle tout en détectant les inconsistances préliminaires des scenarios envisagés. L'objet de cette thèse est donc l'étude d'un outil de simulation collaboratif appelé THETIS.
Il s'agit d'un simulateur conçu avant tout pour aborder les problèmes liés au contexte de la flottille. Il est multi-véhicules hétérogènes puisqu'il permet de simuler par exemple, un scenario dans lequel un AUV (Autonomous Underwater Vehicle) et un ASV (Autonomous Surface Vehicle) interviennent simultanément. Les véhicules peuvent communiquer entre eux au sein de la simulation et les contraintes liées au milieu de propagation (interférences, bande passante, atténuation...) d'une part et à l'utilisation de matériel spécifique (temps de réveil, conflit émission/réception...) d'autre part sont prises en compte. L'architecture du simulateur est ouverte pour faciliter l'intégration et la mise à disposition pour tous, du travail de modélisation des différentes équipes possédant des compétences propres, tout en favorisant la réutilisabilité et la modularité de ces modèles. La capacité du système proposé à réaliser des simulations Hardware-In-The-Loop permet de tester et valider le comportement temporel du contrôleur. Par ailleurs ce simulateur est distribué afin de pouvoir étendre dynamiquement la puissance de calcul nécessitée par l'augmentation du nombre de véhicules et/ou la complexification des modèles, tout en respectant les contraintes temps-réel et le découplage temporel entre la commande et l'évolution des modèles dynamiques.
THETIS est donc un des seuls outils à l'heure actuelle répondant aux contraintes liées au contexte de la simulation de robots marins en flottille. Nous présentons des tests préliminaires mettant en œuvre un AUV de classe Taipan (développée au LIRMM en France) d'une part et un ASV Charlie (développé par l'ISSIA en Italie) d'autre part qui possèdent des architectures de contrôle différentes, et démontrons ainsi la faisabilité et la validité de notre approche.
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Basaran, Dilek. "Design, Production And Development Of Mini/micro Robots To Form A Cooperative Colony." Master's thesis, METU, 2003. http://etd.lib.metu.edu.tr/upload/1058874/index.pdf.
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Design, production and development of individual mini/micro robots and then formation of their cooperative colony are the main topics of this thesis. The produced mini/micro robots are as small and light as possible. In addition, they are multifunctional (programmable), flexible and intelligent while maintaining a very low production cost. Mini/micro robots, called MinT-DB series are able to communicate with each other to work cooperatively. Moreover, these robots can be the basis for the future studies considering the application of artificial intelligence and modeling of live colonies in the nature.
Traditional design, production and assembly techniques have been used widely up to now. However, none of them were related with the mini/micro scale. Therefore, this thesis can help people in understanding the difficulties of the design, production, and assembly of the mini/micro systems under the light of the reported science.
In this thesis, instead of examining a specific application field of mini/micro robotic systems, a technology demonstrative work is carried out. Therefore, this thesis contributes to the mini/micro robotic technology, which is also very new and popular in today’
s world, with the robots having the dimensions of 7.5x6x6 cm.
Books on the topic "Communications multi-robots"
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Kagan, Eugene, Irad Ben-Gal, and Nir Shvalb. Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication, and Swarming. Wiley & Sons, Incorporated, John, 2019.
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Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming. Wiley & Sons, Limited, John, 2019.
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Kagan, Eugene, Irad Ben-Gal, and Nir Shvalb. Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication, and Swarming. Wiley & Sons, Incorporated, John, 2019.
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Kagan, Eugene, Irad Ben-Gal, and Nir Shvalb. Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication, and Swarming. Wiley & Sons, Limited, John, 2019.
Find full textBook chapters on the topic "Communications multi-robots"
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Chudý, Ján, Nestor Popov, and Pavel Surynek. "Multi-agent Path Finding and Acting with Small Reflex-Based Mobile Robots." In Communications in Computer and Information Science, 51–75. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-19650-8_3.
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Wang, Haonan, Biao Hu, and Zhengcai Cao. "Probability-Based Time-Optimal Motion Planning of Multi-robots Along Specified Paths." In Communications in Computer and Information Science, 138–53. Singapore: Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-33-4932-2_10.
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Sanhoury, Ibrahim M. H., Shamsudin H. M. Amin, and Abdul Rashid Husain. "Synchronizing Multi-robots in Switching between Different Formations Tasks While Tracking a Line." In Communications in Computer and Information Science, 28–36. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-35197-6_4.
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Kenzin, Maksim, Igor Bychkov, and Nikolai Maksimkin. "Hybrid Evolutionary Approach to Multi-objective Mission Planning for Group of Underwater Robots." In Communications in Computer and Information Science, 73–84. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-25058-8_8.
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Yang, Sen, Xinjun Mao, Yin Chen, and Shuo Yang. "A Multi-agent Organization Approach for Developing Social-Technical Software of Autonomous Robots." In Communications in Computer and Information Science, 24–38. Singapore: Springer Singapore, 2016. http://dx.doi.org/10.1007/978-981-10-2053-7_3.
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Minor, Katarzyna, Emmet McLoughlin, and Vicky Richards. "Enhancing the Visitor Experience in the Time of COVID 19: The Use of AI Robotics in Pembrokeshire Coastal Pathway." In Information and Communication Technologies in Tourism 2021, 570–77. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-65785-7_55.
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AbstractAI and Robots represent a major innovation opportunity for the tourism sector, and their potential impact and application offer several new opportunities to enhance and develop the visitor experience. Nevertheless, there has been limited academic research on the use of robots, together with a limited number of destinations embracing this technology. Focusing on the Pembrokeshire Coastal Path, this research paper outlines how a multi methodological approach could be utilised to examine the use of AI and robotics in helping to enhance the visitor experience during the ongoing COVID-19 pandemic. The researchers anticipate that outcomes from such a study could not only provide theoretical contributions in the area of addressing concerns about accessibility in tourism and leisure settings, but also serve to inform both academia and the wider tourism industry to the benefits such technology can have towards enhancing the visitor experience within social distancing parameters.
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Ogawa, Jun. "Evolutionary Multi-objective Optimization for Evolving Soft Robots in Different Environments." In Bio-inspired Information and Communication Technologies, 112–31. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-24202-2_9.
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Sugie, Ryuta, Takahiro Uchiya, and Ichi Takumi. "Investigation Using Multi-Agent Simulation Environment for Evacuation Guidance with Robots." In Advances on Broad-Band Wireless Computing, Communication and Applications, 834–43. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-69811-3_75.
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Liu, Xinqi, Jihua Wang, Ruopan Huang, and Wei Pan. "Multi-Robot Federated Edge Learning Framework for Efficient Coordination and Information Management in Smart Construction." In CONVR 2023 - Proceedings of the 23rd International Conference on Construction Applications of Virtual Reality, 553–63. Florence: Firenze University Press, 2023. http://dx.doi.org/10.36253/979-12-215-0289-3.54.
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Smart construction involves a growing array of devices that generate extensive data, capable of enhancing construction efficiency and productivity. Nonetheless, the handling of this diverse and abundant information, along with the geographical spread of construction sites, poses challenges to effective communication and information processing within the management system. Multi-robot systems, as a new type of Internet of Things device, have the potential ability to coordinate workers to complete their work while serving as an edge node for information storage and processing. This paper presents a multi-robot federated edge learning framework that facilitates construction information management and communication. The work demonstrates the role of distributed databases in processing information during project execution, in contrast to centralized information systems. To address the intricacies of construction sites and the wide array of equipment involved, unmanned aerial vehicles and quadruped robots are employed as edge nodes. The formation of a federated edge learning framework ensures the real-time processing of massive data and data privacy issues. The Federated Multi-Robot (FedMR) framework is a global sharing model focused on preserving differential privacy protection. This framework is distributed to multiple edge robots in each round, enabling local real-time processing of robot tasks. The system can accomplish target detection and tracking of workers based on computer vision. Additionally, we collect MiC energy consumption data during the construction process and predict carbon emissions. Based on the implementation and testing of the system, it has been shown to provide structured and reliable information, fast local transmission, and the ability to process information in real-time. The system's ability to coordinate workers and process information makes it a valuable tool in smart construction
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Liu, Xinqi, Jihua Wang, Ruopan Huang, and Wei Pan. "Multi-Robot Federated Edge Learning Framework for Efficient Coordination and Information Management in Smart Construction." In CONVR 2023 - Proceedings of the 23rd International Conference on Construction Applications of Virtual Reality, 553–63. Florence: Firenze University Press, 2023. http://dx.doi.org/10.36253/10.36253/979-12-215-0289-3.54.
Full textAbstract:
Smart construction involves a growing array of devices that generate extensive data, capable of enhancing construction efficiency and productivity. Nonetheless, the handling of this diverse and abundant information, along with the geographical spread of construction sites, poses challenges to effective communication and information processing within the management system. Multi-robot systems, as a new type of Internet of Things device, have the potential ability to coordinate workers to complete their work while serving as an edge node for information storage and processing. This paper presents a multi-robot federated edge learning framework that facilitates construction information management and communication. The work demonstrates the role of distributed databases in processing information during project execution, in contrast to centralized information systems. To address the intricacies of construction sites and the wide array of equipment involved, unmanned aerial vehicles and quadruped robots are employed as edge nodes. The formation of a federated edge learning framework ensures the real-time processing of massive data and data privacy issues. The Federated Multi-Robot (FedMR) framework is a global sharing model focused on preserving differential privacy protection. This framework is distributed to multiple edge robots in each round, enabling local real-time processing of robot tasks. The system can accomplish target detection and tracking of workers based on computer vision. Additionally, we collect MiC energy consumption data during the construction process and predict carbon emissions. Based on the implementation and testing of the system, it has been shown to provide structured and reliable information, fast local transmission, and the ability to process information in real-time. The system's ability to coordinate workers and process information makes it a valuable tool in smart construction
Conference papers on the topic "Communications multi-robots"
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Patel, Jay, and Mae Seto. "CDMA-Based Multi-Domain Communications Network for Marine Robots." In WUWNET'19: International Conference on Underwater Networks & Systems. New York, NY, USA: ACM, 2019. http://dx.doi.org/10.1145/3366486.3366520.
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Zhong, Xu, and Yu Zhou. "Establishing and Maintaining Wireless Communication Coverage Among Multiple Mobile Robots via Fuzzy Control." In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2011. http://dx.doi.org/10.1115/detc2011-47989.
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This paper addresses the critical issue of establishing and maintaining desired wireless communication connectivity in a team of collaborative mobile robots, which is highly demanded for reliable functioning of multi-robot systems but challenging in realistic environments. The signal propagation of wireless communications among mobile robots is affected by not only the transmission power and distance but also obstacles and other environmental conditions as well as robot movement, which result in signal loss, attenuation, multi-path fading and shadowing. Consequently, the communication condition among mobile robots in a physical environment is usually unstable, and it is difficult to accurately predict the actual communication ranges of robots. We propose a decentralized control strategy which, based on perceived link quality, adopts fuzzy control to accommodate the fluctuating communication condition, and approach and maintain desired and reliable communication connections among neighboring robots. The effectiveness of the proposed scheme has been verified in several simulated environments with different signal propagation conditions based on a probabilistic signal propagation model.
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Park, Sujin, Jin Hong Jung, and Seong-Lyun Kim. "Cooperative path-finding of multi-robots with wireless multihop communications." In 6th International ICST Symposium on Modeling and Optimization. IEEE, 2008. http://dx.doi.org/10.4108/icst.wiopt2008.3229.
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Park, Sujin, Jin Hong Jung, and Seong-Lyun Kim. "Cooperative path-finding of multi-robots with wireless multihop communications." In 2008 6th International Symposium on Modeling and Optimization in Mobile, Ad Hoc, and Wireless Networks and Workshops (WiOPT). IEEE, 2008. http://dx.doi.org/10.1109/wiopt.2008.4586158.
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Mascarich, Frank, Huan Nguyen, Tung Dang, Shehryar Khattak, Christos Papachristos, and Kostas Alexis. "A Self-Deployed Multi-Channel Wireless Communications System for Subterranean Robots." In 2020 IEEE Aerospace Conference. IEEE, 2020. http://dx.doi.org/10.1109/aero47225.2020.9172496.
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Fan, Weihong, Xuanping Cai, Dongxiang Zhou, and Li Lu. "Modeling and analysis of active sensor networks based on multi-robots." In 2010 Second Pacific-Asia Conference on Circuits,Communications and System (PACCS). IEEE, 2010. http://dx.doi.org/10.1109/paccs.2010.5626079.
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Ur Rahman, Anis, Asad Waqar Malik, Hasan Ali Khattak, and Moayad Aloqaily. "Task Offloading Using Multi-Armed Bandit Optimization in Autonomous Mobile Robots." In IEEE INFOCOM 2023 - IEEE Conference on Computer Communications Workshops (INFOCOM WKSHPS). IEEE, 2023. http://dx.doi.org/10.1109/infocomwkshps57453.2023.10226072.
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Jones, J. P., M. Beckerman, and R. C. Mann. "Design and Implementation of Two Concurrent Multi-Sensor Integration Algorithms for Mobile Robots l." In 1989 Symposium on Visual Communications, Image Processing, and Intelligent Robotics Systems, edited by Paul S. Schenker. SPIE, 1990. http://dx.doi.org/10.1117/12.969984.
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Kok Seng Eu and Kian Meng Yap. "Enhanced position based routing protocols for multi-sniffer robots to perform odour source localisation." In International Conference on Frontiers of Communications, Networks and Applications (ICFCNA 2014 - Malaysia). Institution of Engineering and Technology, 2014. http://dx.doi.org/10.1049/cp.2014.1420.
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Kagawa, Toshinori, Fumie Ono, Lin Shan, Kenichi Takizawa, Ryu Miura, Huan-Bang Li, Fumihide Kojima, and Shin Kato. "A study on latency-guaranteed multi-hop wireless communication system for control of robots and drones." In 2017 20th International Symposium on Wireless Personal Multimedia Communications (WPMC). IEEE, 2017. http://dx.doi.org/10.1109/wpmc.2017.8301849.
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