Robot teams : from diversity to polymorphism

Title:

Publication Information:

Natick, MA : A K Peters, 2002

ISBN:

9781568811550

Subject Term:

Robotics

Intelligent agents (Computer software)

Added Author:

Balch, Tucker

Parker, Lynne E.

Available:*

Library	Item Barcode	Call Number	Material Type	Item Category 1	Status
Searching... PSZ JB	30000004735142	TJ211 R627 2002	Open Access Book	Book	Searching... Unknown

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	p. ix
I Theoretical Foundations	p. 1
1 A Taxonomy of Multirobot Systems	p. 3
1.1 Why a Taxonomy Is Important	p. 3
1.2 Dimensions of Robot Collective Taxonomies	p. 8
1.3 A Taxonomy of Robot Collectives	p. 10
1.4 The Power of Robot Collectives: Case Studies	p. 17
1.5 Summary and Conclusions	p. 22
2 Taxonomies of Multirobot Task and Reward	p. 23
2.1 Task Impacts Multirobot Performance	p. 23
2.2 The Difference Between Task and Reward	p. 24
2.3 A Taxonomy of Multirobot Tasks	p. 25
2.4 Classification of Example Tasks	p. 30
2.5 A Taxonomy of Multirobot Reward	p. 31
2.6 Summary and Conclusions	p. 35
3 A Survey of Multiagent and Multirobot Systems	p. 37
3.1 MAS and DAI	p. 37
3.2 Multiagent Systems	p. 39
3.3 Organization of Existing Work	p. 45
3.4 Homogeneous Non-Communicating Multiagent Systems	p. 50
3.5 Heterogeneous Non-Communicating Multiagent Systems	p. 58
3.6 Homogeneous Communicating Multiagent Systems	p. 68
3.7 Heterogeneous Communicating Multiagent Systems	p. 72
3.8 Robotic Soccer	p. 82
3.9 Summary and Conclusions	p. 92
4 Measuring Robot Group Diversity	p. 93
4.1 Measuring Diversity Enables New Research	p. 93
4.2 The Meaning of Diversity	p. 94
4.3 Simple Social Entropy	p. 96
4.4 Limitations of Simple Social Entropy	p. 101
4.5 Classification and Clustering	p. 102
4.6 Hierarchic Social Entropy	p. 107
4.7 Behavioral Difference	p. 115
4.8 Simple Social Entropy in Simulated Soccer	p. 122
4.9 Hierarchic Social Entropy in Multirobot Foraging	p. 127
4.10 Summary and Conclusions	p. 134
II Enabling Technologies	p. 137
5 A Polymorphic Robot Team	p. 139
5.1 Advantages of Polymorphism for Robot Teams	p. 139
5.2 CONRO: A Polymorphic Robot	p. 143
5.3 Design of the CONRO modules	p. 145
5.4 Experimental Prototypes	p. 155
5.5 The CONRO Modules and Robots	p. 157
5.6 Summary and Conclusions	p. 159
6 Collaborative Multirobot Localization	p. 161
6.1 Probabilistic Robot Localization	p. 161
6.2 Multirobot Localization	p. 163
6.3 Sampling and Monte Carlo Localization	p. 170
6.4 Probabilistic Detection Model	p. 175
6.5 Experimental Results	p. 178
6.6 Related Work	p. 184
6.7 Summary and Conclusions	p. 186
7 Techniques for Learning in Multirobot Teams	p. 191
7.1 Multirobot Learning	p. 191
7.2 Learning New Cooperative Behaviors	p. 193
7.3 Learning for Parameter Adjustment	p. 215
7.4 Summary and Conclusions	p. 235
8 Symbol Grounding for Communication	p. 237
8.1 Shared Grounding Enables Symbolic Communication	p. 237
8.2 Cooperation and Communication	p. 238
8.3 The System	p. 246
8.4 A Critical Examination	p. 264
8.5 Summary and Conclusions	p. 269
9 Marsupial Robots	p. 271
9.1 Motivation for Marsupialism	p. 271
9.2 Heterogeneity in Marsupial Teams	p. 274
9.3 Roles and Core Behaviors	p. 279
9.4 Docking	p. 282
9.5 Marsupials in the Field	p. 287
9.6 Summary and Conclusions	p. 289
III Robot Team Case Studies	p. 291
10 Heterogeneous Teams of Modular Robots for Mapping and Exploration	p. 293
10.1 Heterogeneous Robot Teams	p. 293
10.2 The Millibots	p. 295
10.3 Specialization and Collaboration	p. 297
10.4 Collaboration	p. 301
10.5 Mapping and Exploration	p. 307
10.6 Results	p. 309
10.7 Summary and Conclusions	p. 313
11 Design and Evaluation of Robust Behavior-Based Controllers	p. 315
11.1 Requirements for Robust Robot Teams	p. 315
11.2 Research in Foraging	p. 316
11.3 The Collection Task	p. 318
11.4 The Homogeneous Controller	p. 322
11.5 Spatio-Temporal Interactions	p. 325
11.6 The Pack Controller	p. 327
11.7 The Caste Controller	p. 331
11.8 Analysis	p. 335
11.9 Summary and Conclusions	p. 343
12 Experiments with Cooperative Aerial-Ground Robots	p. 345
12.1 Heterogeneous Teams for Surveillance and Reconnaissance	p. 345
12.2 Subsystems	p. 347
12.3 Control and Coordination Algorithms	p. 350
12.4 Case Studies	p. 354
12.5 Discussion and Related Work	p. 366
12.6 Summary and Conclusions	p. 367
13 Coordination of Heterogeneous Robots for Large-Scale Assembly	p. 369
13.1 When Coordination is Required	p. 369
13.2 Layered Architecture	p. 370
13.3 Related Approaches	p. 371
13.4 Testbed	p. 372
13.5 Distributed Coordination	p. 373
13.6 Distributed Visual Servoing	p. 375
13.7 Summary and Conclusions	p. 380
Bibliography	p. 381

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