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Meeting report

Meeting report. NTU CSIE Adviser ： Prof. Jane Hsu Speaker ： Wen-Chieh Fang 2005/09/21. Agenda. Simulation Scenario Behavior-based Reactive Paradigm Problem description Robot model Random walk Coordination Area bounding Emergency detecting Demo Summary and future work.

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Meeting report

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  1. Meeting report NTU CSIE Adviser：Prof. Jane Hsu Speaker ：Wen-Chieh Fang 2005/09/21

  2. Agenda • Simulation Scenario • Behavior-based Reactive Paradigm • Problem description • Robot model • Random walk • Coordination • Area bounding • Emergency detecting • Demo • Summary and future work

  3. Simulation scenario • Surveillance task：Three robots on their area to survey emergency（red color object） • Robots are behavior-based（random-walk, coordination, area bounding,emergency detecting）

  4. SENSE PLAN ACT Behavior-based Reactive Paradigm • Vertical decomposition of tasks

  5. Problem description • Project：ITRI plan • Problem：Multi-robot coordination • Assumption： • Robots are homogeneous • Robots can communicate without lost information • Robots have no model/knowledge of other robots • Robots have no ability of self-localization

  6. Robot model • Koala robot：：Highly modular, all terrain indoor robot • Sensors：16 Infra-red proximity and ambient light sensors • Accessories：a camera, an Infra-red ground proximity sensor Adopted from: http://www.cyberbotics.com

  7. Random walk • Algorithm： Braitenberg vehicle approach • Feature： • Relying on the chances to find targets • Different from complete approach to canonical clean-floortask （mainly for stationary targets） Random walk Back & forth Adopted from [Acar et. al. 2003]

  8. Coordination • Messaging • “inhibition” message • State • none → “commitment” state • Assumption • At most two robots tackle the same emergency

  9. Area bounding • Each robot is equipped with an distance sensor below the base of robot. • There are landmarks on the bounding of surveillance area

  10. Emergency detecting • Device：Camera • Assumption：we use stationary red colorobjects in place of emergencies such as intruders or fire.

  11. Demo

  12. Summary & future work • Make devices such as camera, emitter and receiver accord with the physical models in real world (for example: device size, measurement constraints or limits). • In the random walk algorithm, extend the behaviors that maximize the distance between adjacent robots so that the robots have more chances to find the emergencies. • Fault tolerance or uncertainty problems such as communication lost, sensing noise etc. • Search multiple moving targets. • Mission support：remainders can change their surveillance area to compensate the lacking of committing robots.

  13. Reference • [Acar et. al. 2003] Ercan U. Acar, Howie Choset, Yangang Zhang, and Mark Schervish, “Path Planning for Robotic Demining: Robust Sensor-based Coverage of Unstructured Environments and Probabilistic Methods “, The International Jounal of Robotics Research, Vol. 22, No. 7-8, July-August 2003, pp. 441-466.

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