CMPE 58U Sp.Top.In CMPE:Multi-Robot Systems (Fall 2010)

Topics:

• Taxonomies of Multi Robot Systems

• Gregory Dudek, Michael R. M. Jenkin, Evangelos Milios, David Wilkes,  "A Taxonomy for Multi-Agent Robotics", Autonomous Robots, Volume 3, Number 4 / December, 1996.

• Presenter: Okan, Discussant: Yigit
  

• Y. Uny Cao, Alex S. Fukunaga, Andrew B. Kahng,"Cooperative Mobile Robotics: Antecedents and Directions", Autonomous Robots, 4, 1–23 (1997).

• Presenter: Tugce, Discussant: Ozan
  
• Lynne E Parker, "Distributed Intelligence: Overview of the Field and its Application in Multi-robot Systems", Journal of Physical Agents, Vol 2, No 1 (2008).
• Presenter: Orçun, Discussant: Murat
• Task Allocation and Coordination
  

• Brian P. Gerkey, Maja J. Mataric, "A Formal Analysis and Taxonomy of Task Allocation in Multi-Robot Systems",  The International Journal of Robotics Research, Vol. 23, No. 9. pp. 939-954, 2004.
• Presenter: Yigit , Discussant: Okan
• MB Dias, R Zlot, N Kalra, A Stentz,  “Market-based multirobot coordination: A survey and analysis,” Proceedings of the IEEE, 2006 .
• Presenter: Ozan, Discussant: Tugce
• A Farinelli, L Iocchi, D Nardi, “Multirobot systems: a classification focused on coordination,” IEEE Systems, Man, and Cybernetics, 2004.
• Presenter: Murat, Discussant: Orcun

• Learning

• P.Stone and M. Veloso, "Multiagent Systems: A Survey from a Machine Learning Perspective," Autonomous Robots 8, 345–383, 2000.
• Presenter: Okan, Discussant: Yigit
• L. Panait and S. Luke, "Cooperative Multi-Agent Learning: The State of the Art",Autonomous Agents and Multi-Agent Systems, 11, pp. 387–434, 2005.
• Presenter: Tugce, Discussant: Ozan
• L. Busoniu, R: Babuska, and B. De Schutter, "A Comprehensive Survey of Multiagent Reinforcement Learning," IEEE Transactions on Systems, Man, and Cybernetics, Part C 38(2): 156-172 (2008)
• Presenter: Orçun, Discussant: Murat

• Communication
• E Klavins, "Communication complexity of multi-robot systems," Algorithmic Foundations of Robotics V, Springer 2003.
  
• Presenter: Murat, Discussant: Orcun
• E Klavins, "A formal model of a multi-robot control and communication task," Conference on decision and control, 2003.
• Presenter: Yigit , Discussant: Okan
• P. Ulam, and R. Arkin,  "When good comms go bad: Communications recovery for multi-robot teams", IEEE International Conference on Robotics and Automation},   volume 4,  pages=3727-3734, 2004.
• Presenter: Ozan, Discussant: Tugce

• Localization and SLAM;
• S. I. Roumeliotis,  and G. A. Bekey, "Distributed Multirobot Localization," IEEE Transactions on Robotics and Automation, Vol. 18, No. 5, October 2002.
• Presenter: Okan, Discussant: Yigit
• A. I. Mourikis,  and S. I. Roumeliotis, "Performance Analysis of Multirobot Cooperative Localization",IEEE Transactions on Robotics, Vol. 22, No. 4, August 2006.
• Presenter: Tugce, Discussant: Ozan
• A. Howard, "Multi-Robot Simultaneous Localization and Mapping Using Particle Filters,"The International Journal Of Robotics Research, 25: 1243, 2006.
  
• Presenter: Orçun, Discussant: Murat

• Swarm Robotics and Collective Intelligence
•  E. Sahin, "Swarm Robotics: From Sources of Inspiration to Domains of Application, Swarm Robotics WS 2004, LNCS 3342, pp. 10–20, 2005. 
• Presenter: Murat, Discussant: Orcun
•   G. Baldassarre and S. Nolfi, "Strengths and synergies of evolved and designed controllers: A study within collective robotics," Artificial Intelligence, 173, pp.857–875, 2009 
  
• Presenter: Yigit , Discussant: Okan  
• M.C. Schut,"On model design for simulation of collective intelligence," Information Sciences, 180, pp.132–155, 2010.  
• Presenter: Ozan, Discussant: Tugce

• Distributed Sensing and World Modeling
• E. Pagello, A. D’Angelo, and E. Menegatti, "Cooperation Issues and Distributed Sensing for Multirobot Systems, " Proceedings of the IEEE, Vol. 94, No. 7, pp. 1379-1383, 2006.
• Presenter: Okan, Discussant: Yigit
• J. Silva, N. Lau, A. J.R. Neves, J. Rodrigues, and J. L. Azevedo, "World modeling on an MSL robotic soccer team," Mechatronics, 2010.
• Presenter: Tugce, Discussant: Ozan
• D. Göhring, H.D. Burkhard, "Cooperative World Modeling in Dynamic Multi-Robot Environments," Fundamenta Informaticae, Vol. 75 Issue 1/4, pp.281-294, 2007.
  
• Presenter: Orçun, Discussant: Murat
• Cyber-physical systems
• Planning
• Sensors and perception;
• Biological Inspirations
• Navigation and path planning;
• Behavior Recognition/Opponent Modeling

Reference Material:

Books

• S. Thrun, W. Burgard and D. Fox, Probabilistic Robotics, MIT Press, 2005.
• H. Choset, K. M. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. E. Kavraki, and S. Thrun, Principles of Robot Motion: Theory, Algorithms, and Implementations, MIT Press, 2005.
  
• R.Murphy, An Introduction to AI Robotics, MIT Press, 2000.
• R. Arkin, Behavior Based Robotics, MIT Press, 1998.
• J. Borenstein, H. R. Everett, and L. Feng, Where am I?" --Systems and Methods for Mobile Robot Positioning, 1996
• David Kortenkamp, R. Peter Bonasso, and Robin Murphy (eds.), Artificial Intelligence and Mobile Robots, MIT Press,1998.

 

Papers

• Brooks, R. A. "A Robust Layered Control System for a Mobile Robot,"  IEEE Journal of Robotics and Automation, Vol. 2, No. 1, March 1986, pp. 14--23; also MIT AI Memo 864, September 1985.
• Brooks, R. A., "Intelligence Without Representation,"  Artificial Intelligence Journal (47), 1991, pp. 139--159.
• Brooks, R.A. and L.A. Stein, "Building Brains for Bodies," Autonomous Robots, Vol. 1, No. 1, November 1994, pp. 7--25.
• Brooks, R.A., C. Breazeal (Ferrell), R. Irie, C. Kemp, M. Marjanovic, B. Scassellat and M. Williamson, "Alternate Essences of Intelligence," AAAI-98.
• A. Saffiotti, The Uses of Fuzzy Logic in Autonomous Robot Navigation
• Paolo Pirjanian, "Behavior Coordination Mechanisms - State-of-the-art"
• Maja J Mataric, "Behavior-Based Robotics as a Tool for Synthesis of Artificial Behavior and Analysis of Natural Behavior", Trends in Cognitive Science, 2(3), Mar 1998, 82-87.

Tutorials

• A Survey of Cognitive and Agent Architectures
• S. B. Skaar, Vision Based Robotics Using Estimation, 1994.
• S.  Thrun, Probabilistic Robotics Tutorial AAAI-2000
• A. Mukerjee and D: Hernández ,Tutorial on ``Representation of Spatial Knowledge'', 1995.
• A. Saffiotti, Fuzzy logic techniques for autonomous vehicle navigation

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Course Requirements:

• In class presentations (20%)
• Project (60 %)
• Final Exam (20%)

TERM PROJECT

• Cerberus Team Home Page
  

Robots and Robot Kits

• Nao

Simulators

• Webots
• Player/Stage

Useful Information

• Tools and Resources for Research, Theses and Papers
• Peter Stone, Michael Quinlan, and Todd Hester. The Essence of Soccer: Can Robots Play Too?. In Soccer and Philosophy, Popular Culture and Philosophy, Open Court Publishing Company, 2010. To appear.

Related Web Pages

Agents

• UMBC AgentWeb

Robotics

• Bogaziçi Üniversitesi Robot Sitesi (in Turkish)
• AAAI Robot Resources
• Special Report on Robotics
  
• RoboCup
• IEEE Robotics and Automation Magazine
  

AI

• AI Resources
  
• AI on the WWW
• The World-Wide Web Virtual Library: Systems and Control Engineering
• AI, Cognitive Science and Robotics WWW Resource

History of Robotics

• Automaton
  
• Cezeri's Automata
• The Turk or Automaton Chess Player

Fun

• CYBORG Name Generator

Search Tools

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