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Yousuf Ahmad Distributed Information Systems Lab School of Computer Science

Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets Lynne E. Parker Autonomous Robots, 2002. Yousuf Ahmad Distributed Information Systems Lab School of Computer Science. COMP765: Mobile Robotics Winter 2011. Outline. Introduction Problem Description

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Yousuf Ahmad Distributed Information Systems Lab School of Computer Science

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  1. Distributed Algorithms for Multi-Robot Observation of Multiple Moving TargetsLynne E. ParkerAutonomous Robots, 2002 Yousuf Ahmad Distributed Information Systems Lab School of Computer Science • COMP765: Mobile Robotics • Winter 2011

  2. Outline • Introduction • Problem Description • Related Work • Approach • Experiments • Conclusion Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  3. Outline • Introduction • Problem Description • Related Work • Approach • Experiments • Conclusion Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  4. 1. Introduction • Tracking a moving target • Multiple targets • Multiple observers • Mobile observers • Sensor placement • Coverage • Cooperation • Real-time • Applications • Surveillance • Search & Rescue Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  5. Outline • Introduction • Problem Description • Related Work • Approach • Experiments • Conclusion Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  6. 2. Problem Description (1/5) • Cooperative Multi-Robot Observation of Multiple Moving Targets (CMOMMT) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  7. 2. Problem Description (1/5) • Cooperative Multi-Robot Observation of Multiple Moving Targets (CMOMMT) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  8. 2. Problem Description (1/5) • Cooperative Multi-Robot Observation of Multiple Moving Targets (CMOMMT) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  9. 2. Problem Description (2/5) • Cooperative Multi-Robot Observation of Multiple Moving Targets (CMOMMT) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  10. 2. Problem Description (3/5) • Cooperative Multi-Robot Observation of Multiple Moving Targets (CMOMMT) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  11. 2. Problem Description (3/5) • Cooperative Multi-Robot Observation of Multiple Moving Targets (CMOMMT) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  12. 2. Problem Description (4/5) • Cooperative Multi-Robot Observation of Multiple Moving Targets (CMOMMT) • Goal: Maximize average num of targets observed by at least one robotthroughout a mission of total duration T. Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  13. 2. Problem Description (5/5) • Cooperative Multi-Robot Observation of Multiple Moving Targets (CMOMMT) • Robots employ limited-range broadcast communication • Robots can move faster than targets • Robots move within a shared global coordinate system Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  14. Outline • Introduction • Problem Description • Related Work • Approach • Experiments • Conclusion Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  15. 3. Related Work • Mostly centralized algorithms • Complex environments • Computationally expensive • Do not scale well • Off-line • Single vs. multiple targets/observers • Trajectory analysis Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  16. Outline • Introduction • Problem Description • Related Work • Approach • Experiments • Conclusion Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  17. 4. Approach (1/5) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  18. 4. Approach (2/5) • No centralized control • Collective autonomy • Behavioral motivations • Broadcast communication • Adaptive & fault-tolerant • Robot failures • Mission/team changes • Communication failures/noise Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  19. 4. Approach (3/5) • Sensing • Robots, targets, obstacles • Limited-range • Cooperative Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  20. 4. Approach (3/5) • Sensing • Robots, targets, obstacles • Limited-range • Cooperative • Global positioning system Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  21. 4. Approach (4/5) • Force vectors • Local • Weighted • Reduce overlap • Summed Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  22. 4. Approach (5/5) • Force vectors Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  23. 4. Approach (5/5) • Force vectors • Initialization Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  24. Outline • Introduction • Problem Description • Related Work • Approach • Experiments • Conclusion Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  25. 5. Experiments (1/15) • Platform • Simulation • Physical • Robot control • A-CMOMMT weighted force vectors • Local non-weighted • Random • Fixed • Target control • Random/linear • Evasive simulation only • Obstacles Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  26. 5. Experiments (2/15) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  27. 5. Experiments (3/15) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  28. 5. Experiments (4/15) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  29. 5. Experiments (5/15) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  30. 5. Experiments (6/15) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  31. 5. Experiments (7/15) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  32. 5. Experiments (8/15) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  33. 5. Experiments (9/15) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  34. 5. Experiments (10/15) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  35. 5. Experiments (11/15) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  36. 5. Experiments (12/15) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  37. 5. Experiments (13/15) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  38. 5. Experiments (14/15) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  39. 5. Experiments (15/15) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  40. Outline • Introduction • Problem Description • Related Work • Approach • Experiments • Conclusion Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  41. 6. Conclusion • Cooperative multi-robot observation of multiple moving targets • Distributed approach • Weighted local force vectors • Comparison • Weighted vs. non-weighted • Heuristic vs. random vs. fixed • Random/linear vs. evasive • Other interesting approaches • Multi-robot learning • Other interesting applications • Border security • AQUA team Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

  42. Thank you! • Questions? Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]

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