Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

Session WedGT5 Gemini 2 Wednesday, October 10, 2012, 17:30–18:30
Cooperating Robots
Chair Mike Stilman, Georgia Tech.
Co-Chair Pedro Lima, Inst. Superior Técnico - Inst. for Systems and Robotics
17:30–17:45 WedGT5.1
Weighted Synergy Graphs for Role Assignment
in Ad Hoc Heterogeneous Robot Teams
Somchaya Liemhetcharat and Manuela Veloso
School of Computer Science, Carnegie Mellon University, USA
• In ad hoc scenarios, robot capabilities and
interactions are initially unknown.
• The Weighted Synergy Graph for Role
Assignment (WeSGRA) models:
• capabilities of robots at different roles;
• interactions between robots using a
weighted graph structure.
• We learn the WeSGRA from training
examples and use it to approximate the
optimal role assignment.
• We extensively evaluate the WeSGRA
model and algorithms with the RoboCup
Rescue simulator and with real robots.
An example WeSGRA with 3
agent types and 2 roles.
18:00–18:15 WedGT5.3
On Mission-Dependent Coordination of Multiple
Vehicles under Spatial and Temporal Constraints
Federico Pecora, Marcello Cirillo and Dimitar Dimitrov
Center for Applied Autonomous Sensor Systems,
Örebro University, Sweden
� We propose a constraint-based, least-commitment approach for
coordinating multiple non-holonomic autonomous ground vehicles
� all decisions on vehicle trajectories are seen as temporal or spatial
constraints on trajectories
� trajectories are not committed to until execution time
� vehicles account for tracking performance of other vehicles and
posted constraints during execution
Temporal and spatial constraints on a vehicle's trajectory
17:45–18:00 WedGT5.2
Multi-Robot Multi-Object Rearrangement in
Assignment Space
Martin Levihn and Takeo Igarashi
JST ERATO IGARASHI Design Interface Project, Japan
Mike Stilman
Interactive Computing, Georgia Institute of Technology, USA
• We present Assignment Space
Planning, a new efficient robot multiagent
coordination algorithm
• It yields optimal solutions for simple
problems and novel emergent
behavior for complex scenarios
• Computation time is within seconds
• We demonstrate results not just in
simulation but also on real robot
systems
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
–187–
Multiple robots push multiple
objects to designated goals.
18:15–18:30 WedGT5.4
Multi-Robot Exploration and Rendezvous on
Graphs
Malika Meghjani and Gregory Dudek
School of Computer Science, McGill University, Canada
• We address the problem of multirobot
rendezvous in an unknown
bounded environment, starting at
unknown locations, without any
communication.
• The goal is to meet in minimum
time such that the robots can
share resources to speed up
global exploration.
• We propose an energy efficient
combination of exploration and
rendezvous processes.
• Our simulation results suggest a
need for the energy efficient
methods for much faster
rendezvous time.
Randomly generated
environment and its
performance with noisy
robot sensors