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Information sharing in mobile robot teams: deployment with uncertainty consideration
Linköping University, Department of Mechanical Engineering, Fluid and Mechanical Engineering Systems. Linköping University, The Institute of Technology.
2004 (English)Licentiate thesis, comprehensive summary (Other academic)
Abstract [en]

The work presented in this thesis deals with information sharing within mobile robot teams. Main focus is on information related to team positioning and localization. The goal of this research is to find models for how to best deploy a group of robots.

The motion platforms covered are well adapted. although very important for the results. Motion models are crucial when calculating the dead reckoning of each platform. Results in the appended work show that the motion model has heavy impact on the possibility to affect the uncertainty of a robot team as new ground is deployed.

The sensor models discussed may not necessarily be what is commonly used in the research field. Instead good approximations are used, that describe the main features of the sensor type. The focus is to present different sensor types and describe how the characteristics affect the uncertainty of the robot team, not to create new sensor models. A general model for sensors with polar measurement coordinates is derived. This can be used with different sensors with the same characteristics.

A framework for sharing information within the robot team is derived. This is based on earlier work presented as "The Stochastic Map". However, the framework is tailored to suite the purpose of this work. Different estimation methods are also discussed, with main focus is on Kalman filtering techniques.

The resulting part of this work present different ideas of what should be considered when deploying a group of robots. Results show how different dist ribution of sensors will affect the localization uncertainty of the group. It is also shown how different deployment formations affect the uncertainty within the team.

Place, publisher, year, edition, pages
Linköping: Linköpings universitet , 2004. , 52 p.
Series
Linköping Studies in Science and Technology. Thesis, ISSN 0280-7971 ; 1105
Keyword [en]
Information sharing, robot teams
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:liu:diva-23265Local ID: 2689ISBN: 91-7373-993-6 (print)OAI: oai:DiVA.org:liu-23265DiVA: diva2:243579
Available from: 2009-10-07 Created: 2009-10-07 Last updated: 2013-11-04
List of papers
1. On Sensor Fusion Between a Pair Of Heterogeneous Robots
Open this publication in new window or tab >>On Sensor Fusion Between a Pair Of Heterogeneous Robots
2003 (English)In: Proceedings of the 6th International Conference on Information Fusion, Cairns, Australia, 8th–11th July, 2003, 2003, 1287-1294 p.Chapter in book (Other (popular science, discussion, etc.))
Abstract [en]

This paper present work in progress, aiming to find models that can be used as guidelines in how to best deploy a team of heterogeneous robots to solve a given task. That is, this research is focusing on how much each robot can increase the certainty about its own position and orientation in a global perspective as well as relative to other team members. It also, in some extent investigate what happens too the uncertainty and correlation within the group. The motive is to provide an insight into the utility of fusing position information communicated within the team, in aspect of increased accuracy. It also investigates in what way different usage of sensors will effect the results. Since the goal of the paper is insight, the minimum configuration of two robots and two landmarks is studied although the results are scalable to larger robot teams. The results show that by placing a camera on the moving robot measuring the bearing of a stationary robot gives better estimation of the moving robots orientation, which can be crucial for the solution of the association problem.

Keyword
Cooperative, Robot, Navigation, Distributed, Fusion, SLAM, CLAM
National Category
Engineering and Technology
Identifiers
urn:nbn:se:liu:diva-15106 (URN)0-9721844-4-9 (ISBN)
Available from: 2008-10-16 Created: 2008-10-16 Last updated: 2013-11-04Bibliographically approved
2. On utilizing geometric formations for minimizing uncertainty in 3 robot teams
Open this publication in new window or tab >>On utilizing geometric formations for minimizing uncertainty in 3 robot teams
2004 (English)In: Proceedings of The 8th Conference on Intelligent Autonomous Systems, IAS-8, Amsterdam, Netherlands, 10th–12th March, 2004, , 100-110 p.100-110 p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents work in progress, aiming to find models that can be used as guidelines in how to best deploy a team of robots to solve given tasks. The motive is to provide an insight into the utility in fusing position information communicated within the team, in aspect of increased accuracy in position and orientation estimate. The minimum configuration of three robots is studied. The robots are equipped with camera-like sensors that make omni directional bearing measurements to eachother. To reduce the free variables the formations are restricted so that two subordinate robots are located at the same distance to a master robot. For this configuration the information matrix is explored. A few formations are chosen and studied further, through simulations. The simulations show that there exists a breakpoint in traveled distance, where the formation minimizing orientation uncertainty for the master robot, changes from a column-formation to a line formation. The simulations also show that a line or column formations are not a good choice when balansed position uncertainty is required. In the case of balansing position uncertainty, a triangular formation is better.

Publisher
100-110 p.
Keyword
Geometric formations, minimize uncertainty
National Category
Engineering and Technology
Identifiers
urn:nbn:se:liu:diva-15319 (URN)9781586034146 (ISBN)
Available from: 2008-10-31 Created: 2008-10-31 Last updated: 2013-11-04Bibliographically approved
3. Effects on Uncertainty Utilizing Formation-Planning in Robot Teams
Open this publication in new window or tab >>Effects on Uncertainty Utilizing Formation-Planning in Robot Teams
2004 (English)In: Proceedings of The 5th Symposium on Intelligent Autonomous Vehicles, IAV 2004, Lisbon, Portugal, 5th–7th July 2004, 2004Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents work in progress, aiming to find models that can be used as guidelines in how to best deploy a team of robots to solve given tasks. The motive is to provide an insight into the utility in fusing position information communicated within the team, in aspect of increased accuracy in position and orientation estimate. The minimum configuration of three robots moving over a flat surface is studied. The robots are equipped with omni-directional cameralike sensors that make bearing measurements to each other. To reduce the free variables the formations are restricted so that two subordinate robots are located at the same distance to a master robot. For this configuration the information matrix is derived and studied. There are numerical results presented that indicate how the uncertainty of the master robot changes depending of the bearing to the subordinate robots and the distance traveled.

Keyword
Multi-Robot, Cooperative, Formation, Localization
National Category
Engineering and Technology
Identifiers
urn:nbn:se:liu:diva-15320 (URN)
Available from: 2008-10-31 Created: 2008-10-31 Last updated: 2013-11-04Bibliographically approved

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