Distributed Coordination Theory For Robot Teams

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Distributed Coordination Theory For Robot Teams

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Author : Ashton Roza
language : en
Publisher: Springer Nature
Release Date : 2022-05-15

Distributed Coordination Theory For Robot Teams written by Ashton Roza and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-05-15 with Technology & Engineering categories.

Distributed Coordination Theory for Robot Teams develops control algorithms to coordinate the motion of autonomous teams of robots in order to achieve some desired collective goal. It provides novel solutions to foundational coordination problems, including distributed algorithms to make quadrotor helicopters rendezvous and to make ground vehicles move in formation along circles or straight lines. The majority of the algorithms presented in this book can be implemented using on-board cameras. The book begins with an introduction to coordination problems, such as rendezvous of flying robots, and modelling. It then provides a solid theoretical background in basic stability, graph theory and control primitives. The book discusses the algorithmic solutions for numerous distributed control problems, focusing primarily on flying robotics and kinematic unicycles. Finally, the book looks to the future, and suggests areas discussed which could be pursued in further research. This book will provide practitioners, researchers and students in the field of control and robotics new insights in distributed multi-agent systems.

Distributed Coordination Theory For Robot Teams

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Author : Ashton Roza
language : en
Publisher:
Release Date : 2022

Distributed Coordination Theory For Robot Teams written by Ashton Roza and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022 with categories.

Distributed Coordination Theory for Robot Teams develops control algorithms to coordinate the motion of autonomous teams of robots in order to achieve some desired collective goal. It provides novel solutions to foundational coordination problems, including distributed algorithms to make quadrotor helicopters rendezvous and to make ground vehicles move in formation along circles or straight lines. The majority of the algorithms presented in this book can be implemented using on-board cameras. The book begins with an introduction to coordination problems, such as rendezvous of flying robots, and modelling. It then provides a solid theoretical background in basic stability, graph theory and control primitives. The book discusses the algorithmic solutions for numerous distributed control problems, focusing primarily on flying robotics and kinematic unicycles. Finally, the book looks to the future, and suggests areas discussed which could be pursued in further research. This book will provide practitioners, researchers and students in the field of control and robotics new insights in distributed multi-agent systems.

Distributed Coordination Theory For Ground And Aerial Robot Teams

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Author : Ashton Roza
language : en
Publisher:
Release Date : 2019

Distributed Coordination Theory For Ground And Aerial Robot Teams written by Ashton Roza and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019 with categories.

This thesis investigates distributed coordination problems for two important classes of robots. One class corresponds to ground-based mobile robots, each modelled as a kinematic unicycle. The second corresponds to flying robots, each propelled by a thrust vector and endowed with an actuation mechanism producing torques about three orthogonal body axes. The following coordination problems are studied in this thesis: rendezvous, formation control, linear and circular formation flocking and formation path following. For rendezvous of kinematic unicycles, a smooth, time-independent control law is presented that drives the unicycles to a common position from arbitrary initial conditions, under the assumption that the sensing digraph is time-invariant and contains a globally reachable node. The proposed feedback is very simple and is local and distributed. For rendezvous of flying robots, a control strategy is presented that makes the centres of mass of the vehicles converge to an arbitrarily small neighborhood of one another. The convergence is global, and each vehicle can compute its own control input using local and distributed feedback. For formation control, the objective is to make an ensemble of kinematic unicycles achieve pre-defined inter-agent spacings with parallel heading angles. We consider scenarios where the formation either stops or moves with a final collective motion. In the latter case, problems of linear and circular formation flocking and formation path following are studied. A control law is presented in each case that solves the problem for almost all initial conditions. For stopping and flocking formations, the proposed control laws are local and distributed while for formation path following, the control laws additionally require each agent to measure its displacement from the path. The idea used to solve the formation control problems is to rigidly attach an offset vector to the body frame of each unicycle. It is shown that stabilizing the desired formation amounts to achieving consensus of the endpoints of the offset vectors, and simultaneously synchronizing the unicycles' heading angles. Extension of formation control to flying robots using strictly local and distributed feedback is not addressed in this work and remains a challenging open problem.

Theories Of Team Cognition

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Author : Eduardo Salas
language : en
Publisher: Routledge
Release Date : 2013-06-17

Theories Of Team Cognition written by Eduardo Salas and has been published by Routledge this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-06-17 with Psychology categories.

Cognitive processes in teams have been a valuable arena for team researchers to explore. Team cognition research advances and informs a variety of disciplines, including cognitive and social sciences, engineering, military science, organizational science, human factors, medicine, and communications. There has been a great deal of progress in the team cognition literature, yet the field is still in its early stages of maturity. There is much more to be gained from the field’s insights and there is a need to unite the diverse array of scholarly ideas that permeate the field. This movement will serve to organize the research and ideas that have surfaced in the field, thereby making them more accessible to different disciplines while at the same time, motivating continued progress in the field. This book aims to be a step in this direction and acts as a forum for leading scholars to share their ideas, theories, models, and conceptions about what matters and where more attention is needed in the field of team cognition.

Distributed Computing Iwdc 2005

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Author : Ajit Pal
language : en
Publisher: Springer Science & Business Media
Release Date : 2005-12-13

Distributed Computing Iwdc 2005 written by Ajit Pal and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2005-12-13 with Computers categories.

This book constitutes the refereed proceedings of the 7th International Workshop on Distributed Computing, IWDC 2004, held in Kharagpur, India in December 2005. The 28 revised full papers and 33 revised short papers presented together with 5 invited keynote talks were carefully reviewed and selected from 253 submissions. The papers are organized in topical sections on theory of distributed computing, sensor networks, fault tolerance, optical networks, peer-to-peer networks, wireless networks, network security, grid and networks, middleware and data management, mobility management, and distributed artificial intelligence.

Distributed Autonomous Robotic Systems

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Author : Roderich Groß
language : en
Publisher: Springer
Release Date : 2018-03-13

Distributed Autonomous Robotic Systems written by Roderich Groß and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-03-13 with Technology & Engineering categories.

Distributed robotics is an interdisciplinary and rapidly growing area, combining research in computer science, communication and control systems, and electrical and mechanical engineering. Distributed robotic systems can autonomously solve complex problems while operating in highly unstructured real-world environments. They are expected to play a major role in addressing future societal needs, for example, by improving environmental impact assessment, food supply, transportation, manufacturing, security, and emergency and rescue services. The goal of the International Symposium on Distributed Autonomous Robotic Systems (DARS) is to provide a forum for scientific advances in the theory and practice of distributed autonomous robotic systems. This volume of proceedings include 47 original contributions presented at the 13th International Symposium on Distributed Autonomous Robotic Systems (DARS 2016), which was held at the Natural History Museum in London, UK, from November 7th to 9th, 2016. The selected papers in this volume are authored by leading researchers from around the world, thereby providing a broad coverage and perspective of the state-of-the-art technologies, algorithms, system architectures, and applications in distributed robotic systems. The book is organized into seven parts, representative of critical long-term and emerging research thrusts in the multi-robot community: Distributed Coverage and Exploration; Multi-Robot Control; Multi-Robot Estimation; Multi-Robot Planning; Modular Robots and Smart Materials; Swarm Robotics; and Multi-Robot Systems in Applications.

Distributed Autonomous Robotic Systems

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Author : M. Ani Hsieh
language : en
Publisher: Springer
Release Date : 2014-06-07

Distributed Autonomous Robotic Systems written by M. Ani Hsieh and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-06-07 with Technology & Engineering categories.

Distributed robotics is a rapidly growing and maturing interdisciplinary research area lying at the intersection of computer science, network science, control theory, and electrical and mechanical engineering. The goal of the Symposium on Distributed Autonomous Robotic Systems (DARS) is to exchange and stimulate research ideas to realize advanced distributed robotic systems. This volume of proceedings includes 31 original contributions presented at the 2012 International Symposium on Distributed Autonomous Robotic Systems (DARS 2012) held in November 2012 at the Johns Hopkins University in Baltimore, MD USA. The selected papers in this volume are authored by leading researchers from Asia, Europa, and the Americas, thereby providing a broad coverage and perspective of the state-of-the-art technologies, algorithms, system architectures, and applications in distributed robotic systems. The book is organized into five parts, representative of critical long-term and emerging research thrusts in the multi-robot community: Coordination for Perception, Coverage, and Tracking; Task Allocation and Coordination Strategies; Modular Robots and Novel Mechanisms and Sensors; Formation Control and Planning for Robot Teams; and Learning, Adaptation, and Cognition for Robot Teams.

The Oxford Handbook Of Cognitive Engineering

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Author : John D. Lee
language : en
Publisher: Oxford University Press
Release Date : 2013-03-07

The Oxford Handbook Of Cognitive Engineering written by John D. Lee and has been published by Oxford University Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-03-07 with Computers categories.

This handbook is the first to provide comprehensive coverage of original state-of-the-science research, analysis, and design of integrated, human-technology systems.

Algorithms Esa 2004

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Author : Susanne Albers
language : en
Publisher: Springer Science & Business Media
Release Date : 2004-09

Algorithms Esa 2004 written by Susanne Albers and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2004-09 with Computers categories.

This book constitutes the refereed proceedings of the 12th Annual European Symposium on Algorithms, ESA 2004, held in Bergen, Norway, in September 2004. The 70 revised full papers presented were carefully reviewed from 208 submissions. The scope of the papers spans the entire range of algorithmics from design and mathematical issues to real-world applications in various fields, and engineering and analysis of algorithms.

Remotely Piloted Aircraft Systems

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Author : Nancy J. Cooke
language : en
Publisher: John Wiley & Sons
Release Date : 2016-10-31

Remotely Piloted Aircraft Systems written by Nancy J. Cooke and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-10-31 with Technology & Engineering categories.

Highlights the human components of Remotely Piloted Aircraft Systems, their interactions with the technology and each other, and the implications of human capabilities and limitations for the larger system Considers human factors issues associated with RPAS, but within the context of a very large system of people, other vehicles, policy, safety concerns, and varying applications Chapters have been contributed by world class experts in HSI and those with operational RPAS experience Considers unintended consequences associated with taking a more myopic view of this system Examines implications for practice, policy, and research Considers both civil and military aspects of RPAS