Thesis proposal

Nuttapon Boonpinon 4870340721Advisor Dr. Attawith SudsangDepartment of Computer Engineering ,Chulalongkorn UniversityPattern Formation for Heterogeneous Multi-Robot Systems11

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33Why Multi-Robot ?Some task cant be done by a single robot

44Why Multi-Robot ?Require more than one type of robot

55Why Multi-Robot ?Robustness and False Tolerance is required

66Multi-Robot vs. Single RobotGo! Get the Ball

77Multi-Robot vs. Single RobotGo! Get the BallDo you see the ball?Do you see the ball?Do you see the ball?88Multi-Robot vs. Single RobotGo! Get the BallI will get itNo, you get it You Get itI will get it@#$@$99Multi-Robot vs. Single Robot10Go! Get the Ball10

10Multi-Robot Research AreasTask Allocation / Task PlanningCommunication Protocol Cooperative Mapping / LocalizationMotion Coordination / Pattern FormationMotion Coordination / Pattern Formation1111Multi-Robot Pattern FormationsControlSensorsLocomotionLocal PlanningGlobal PlanningRange Sensor / MotorPID , other control systemObstacle AvoidanceNavigation

12Single !!!!12Multi-Robot Pattern FormationsControlSensorsLocomotionLocal PlanningGlobal PlanningControlSensorsLocomotionLocal PlanningGlobal PlanningControlSensorsLocomotionLocal PlanningGlobal PlanningPattern Formationrobot1robot2robot3

Centralized Pattern Formation1313Multi-Robot Pattern FormationFormation Algorithm1414Multi-Robot Pattern FormationsControlSensorsLocomotionLocal PlanningGlobal PlanningControlSensorsLocomotionLocal PlanningGlobal PlanningControlSensorsLocomotionLocal PlanningGlobal PlanningPattern Formationrobot1robot2robot3

Pattern FormationPattern FormationDecentralized Pattern Formation1515Multi-Robot Pattern FormationFormationFormationFormationFormationFormationFormation1616Multi-Robot Pattern FormationFormationFormationFormationFormationFormationFormationGlobal Communication1717Multi-Robot Pattern FormationFormationFormationFormationFormationFormationFormationLocal Communication1818Multi-Robot Pattern FormationFormationFormationFormationFormationFormationFormationNo Communication 1919Multi-Robot Formation Application

Robotic Traffic Barrel

Land-mine Detection2020Literature Review :: Multi-Robot FormationEarly Researches :: Arai 89, Reynolds 87a,b Decentralized ::Parker 93 , Balch98Mataric 02, Desai 02,

Centralized ::Farritor02, Manuela96

2121Early Research :: Reynolds BoidA distributer behavior model Used in animation to reduce animators work involving many agents

Used in Batman Returns

22Each simulated bird is implemented as an independent actor that navigates according to its local perception of the dynamic environment,22Centralized Pattern FormationFarritor 02 Intelligent Highway Traffic Barrel Forming a robotic traffic barrel taper Each barrels cost must be low enough to allow frequent replacements.A lead robot is used to command each barrel

2323Decentralized Pattern Formation :: Balch 98Balch98 Behavior-based Formation Control for Multi-robot TeamsPropose 4 types of formation

Line FormationColumn Formation123412342424Decentralized Pattern Formation :: Balch 98Wedge Formation1234Diamond Formation12342525Decentralized Pattern Formation :: Balch 98Use motor schema control schemeMove to GoalAvoid Static ObstacleMaintain FormationAvoid RobotWWWWOutput2626Decentralized Pattern Formation :: Balch 983 type of location determination

Unit CenterLeader ReferenceNeighbor Reference2727Decentralized Pattern Formation::Desai 02Desai 02 A graph theoretic approach for modeling mobile robot team formationsUse graph to represent formation relationship between robotl-l relationllll- relation

2828Centralized vs. Decentralized292930FormationFormationFormationFormationFormationFormationDecentralized Pattern Formation30CommunicationRobotMulti-RobotSingle RobotCentralizedDecentralizedNo CommunicationLocal CommunicationGlobalCommunication31No communication = sensor 31Robot ModelRobotSensing RangeRobotdDistance d and angle can be sensed by the robotEach robots can identify type of robots in range3232Heterogeneity33Oxygen ImageCO2OxygenCO2Image33Our ProblemsDecentralized Pattern Formation for Multi-Robot SystemsBut, What kind of formations ? Line? Diamond? NoHeterogeneity Constrained CoverageSquad Formation34Circular Formation34Circular FormationArrange heterogeneous robot group into single circular shape

3535Circular Formation36

36Circular FormationChallenge Circularity is a global propertyBut we can measure only local No explicit geometric properties in each agent3737Related works :: Circular FormationSugihara and Suzuki 99, Distributed Algorithms for Formation of Geometric Patterns with Many Mobile Robots

Each robots follow this ruleIf distance between itself and the furthest robot is more than diameter of circle then move toward that robotElse, move away from the closet robot

3838Related works :: Circular formationSometime converged to Reuleaux's Triangle

Need information of all robot in workspaceEmbodied explicit geometric properties of circle in algorithm

Reuleaux's Triangle3939Squad FormationForm a squad composed of k predefined types and distribute squad to cover the workspace

Final workspaceInitial workspace4040Squad FormationChallengesNo global information, do not know where agent should head

Limited communication Scalability

4141Related Works :: Squad FormationNguyen et. Al. 03 Autonomous Communication Relays for Tactical RobotsComposed of Master and Relay slaveRelay slave keep communication MasterBase alive

4242Constrained CoverageUniformly cover the workspace only in their corresponding region

4343Constrained CoverageInitial WorkspaceFinal Workspace4444Constrained CoverageChallenge No prior knowledge about map

No absolute localization

Uniformly cover the workspace

Cover workspace only space that related to agents type

4545Related Works :: Constrained CoverageCoverageNon-ConstrainedConstrainedPotential Field BasedVoronoi BasedCommunication RangeCommunication Type4646Related Works :: Constrained CoverageHoward et. Al. 02 Mobile Sensor Network Deployment using Potential Fields: A Distributed, Scalable Solution to the Area Coverage ProblemSelf-Deployment Implement artificial potential field to disperse mobile sensor network nodes

4747Related Works :: Constrained coverageTan et. Al. 04 Modeling Multiple Robot Systems for Area Coverage and Cooperation Robots move to centroid of voronoi region

4848Related Works :: Constrained Coverage Rekleitis et. Al.03 Limited Communication, Multi-Robot Team Based CoverageDynamic CoverageLine of sight communicationCell-Decomposition based

4949Related Works :: Constrained Coverage 50

50Related Works :: Constrained CoverageCoverageNon-ConstrainedConstrainedPotential Field BasedVoronoi BasedCommunication RangeCommunication TypeRegion51513 Problems but common goalsSquad FormationCircular FormationConstrained Coverage

Simple Distributed AlgorithmLow computational power neededNeed no/local communication onlyUse Limited-range Sensor5252ScopeA distributed algorithm for controlling a group of heterogeneous robots in simulationFor circular formation, the algorithm must outperform the current method (suzuki99)

For squad formation and constrained coverage, the algorithm must complete the task with acceptable performance

Purpose performance matrices for squad formation and constrained coverage53Local / no coverage on Sim 53Work PlanPreliminary worksStudy related works Develop algorithm for circular formation

Ongoing worksDevelop algorithm for squad formation and constrained coverageStudy performance matrices for squad formation and constrained coverage

5454Thank you , Any question ?5555Sugihara and Suzuki56

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