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Algorithms For Multi Agent Robotic Assembly Planning
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Book Synopsis Algorithms for Multi-agent Robotic Assembly Planning by : Kyle Jordan Brown
Download or read book Algorithms for Multi-agent Robotic Assembly Planning written by Kyle Jordan Brown and published by . This book was released on 2021 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis presents algorithms for multi-agent robotic assembly planning in automated manufacturing contexts. Our work touches on many pieces of the "factory autonomy stack." The first contribution of the thesis is the introduction of a discrete factory problem formulation that includes time-extended multi robot task allocation, inter-task precedence constraints, and collision-avoidance constraints. We propose an efficient method to solve such problems. The two keys to our algorithm's efficiency are its decoupling of task assignment and route planning, and its ability to take advantage of situations where some robots can be delayed in their own schedule without causing any negative impact on the factory's overall performance. The next major contribution of the thesis is a family of replanning algorithms geared toward an online version of our discrete factory problem. In the online setting, the factory command center periodically receives new manufacturing workloads that must be quickly incorporated into the overall schedule. We show through an extensive set of experiments that our replanning methods are applicable across a wide range of problems. Moreover, our proposed methods can be applied in such a way that the factory will never have to freeze while waiting to receive an updated plan. Our final contribution is a proof-of-concept system for large scale multi-robot assembly planning with assemblies and raw materials of arbitrary shapes and sizes. Our system starts with raw materials and a bare-bones set of instructions about how those materials fit together. The planner then synthesizes a construction plan, which defines how each payload will be carried (by one or more robots), where each assembly and subassembly will be built, and which specific robots will be assigned to each solo and collaborative transport task. Finally, a reactive collision-avoidance control policy enables the robots to execute the construction plan in a distributed manner. We demonstrate in simulation that our system can synthesize--in minutes--construction plans for assemblies with hundred of components. Though we do not address all of the relevant ``real-world'' considerations that surround multi robot manufacturing, our work is a small step toward large scale automated construction with mobile robots.
Book Synopsis Multi-Agent Coordination by : Arup Kumar Sadhu
Download or read book Multi-Agent Coordination written by Arup Kumar Sadhu and published by John Wiley & Sons. This book was released on 2020-12-01 with total page 320 pages. Available in PDF, EPUB and Kindle. Book excerpt: Discover the latest developments in multi-robot coordination techniques with this insightful and original resource Multi-Agent Coordination: A Reinforcement Learning Approach delivers a comprehensive, insightful, and unique treatment of the development of multi-robot coordination algorithms with minimal computational burden and reduced storage requirements when compared to traditional algorithms. The accomplished academics, engineers, and authors provide readers with both a high-level introduction to, and overview of, multi-robot coordination, and in-depth analyses of learning-based planning algorithms. You'll learn about how to accelerate the exploration of the team-goal and alternative approaches to speeding up the convergence of TMAQL by identifying the preferred joint action for the team. The authors also propose novel approaches to consensus Q-learning that address the equilibrium selection problem and a new way of evaluating the threshold value for uniting empires without imposing any significant computation overhead. Finally, the book concludes with an examination of the likely direction of future research in this rapidly developing field. Readers will discover cutting-edge techniques for multi-agent coordination, including: An introduction to multi-agent coordination by reinforcement learning and evolutionary algorithms, including topics like the Nash equilibrium and correlated equilibrium Improving convergence speed of multi-agent Q-learning for cooperative task planning Consensus Q-learning for multi-agent cooperative planning The efficient computing of correlated equilibrium for cooperative q-learning based multi-agent planning A modified imperialist competitive algorithm for multi-agent stick-carrying applications Perfect for academics, engineers, and professionals who regularly work with multi-agent learning algorithms, Multi-Agent Coordination: A Reinforcement Learning Approach also belongs on the bookshelves of anyone with an advanced interest in machine learning and artificial intelligence as it applies to the field of cooperative or competitive robotics.
Book Synopsis Algorithmic Foundations of Robotics X by : Emilio Frazzoli
Download or read book Algorithmic Foundations of Robotics X written by Emilio Frazzoli and published by Springer. This book was released on 2013-02-14 with total page 625 pages. Available in PDF, EPUB and Kindle. Book excerpt: Algorithms are a fundamental component of robotic systems. Robot algorithms process inputs from sensors that provide noisy and partial data, build geometric and physical models of the world, plan high-and low-level actions at different time horizons, and execute these actions on actuators with limited precision. The design and analysis of robot algorithms raise a unique combination of questions from many elds, including control theory, computational geometry and topology, geometrical and physical modeling, reasoning under uncertainty, probabilistic algorithms, game theory, and theoretical computer science. The Workshop on Algorithmic Foundations of Robotics (WAFR) is a single-track meeting of leading researchers in the eld of robot algorithms. Since its inception in 1994, WAFR has been held every other year, and has provided one of the premiere venues for the publication of some of the eld's most important and lasting contributions. This books contains the proceedings of the tenth WAFR, held on June 13{15 2012 at the Massachusetts Institute of Technology. The 37 papers included in this book cover a broad range of topics, from fundamental theoretical issues in robot motion planning, control, and perception, to novel applications.
Book Synopsis Algorithmic Planning for Robotic Assembly of Building Structures by : Yijiang Huang
Download or read book Algorithmic Planning for Robotic Assembly of Building Structures written by Yijiang Huang and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis develops the algorithmic foundations for applying automated planning techniques to program robots to assemble discrete spatial structures. Benefitting from the robot's capacity for moving, positioning, and holding elements precisely, robotic assembly aims to neutralize the cost and time impact of increasing demand for non-standard, customized designs using programmable robotics and automated process. Programming robots to assemble structures requires us to reason about the construction sequence and the robotic motions. The critical planning challenge is satisfying both stiffness constraints that limit the deformation of the structure and geometric constraints that ensure the robot does not collide with the structure. Current planning approaches either require a significant amount of human intervention or do not scale to the numeric scale and geometric complexity demanded by construction. As we shift from mass production in manufacturing to mass customization in construction, we need versatile planning tools that can adapt to different structural typologies, off-load tedious human programming work, and involve human expertise when relevant. "This thesis addresses this need by proposing a unified algorithmic framework to formulate and solve assembly planning problems. Our investigations are grounded on three broad classes of assembly planning problems: (1) spatial extrusion, (2) pick-and-place assembly, and (3) robotic assembly with multiple tool changes. For each class of assembly problems, we propose scalable, efficient planning algorithms and test them with simulated and real-world case studies. This thesis demonstrates how algorithmic planning can provide us with a much smoother transition between an assembly design and its final execution on the robot. Based on these sound foundations of the "forward-evaluation" of robotic constructability in various contexts, we finally attempt to "close the loop" -- deriving a metric to measure constructability and use it to guide the performance-driven exploration of a discrete design catalog.
Book Synopsis Planning Algorithms by : Steven M. LaValle
Download or read book Planning Algorithms written by Steven M. LaValle and published by Cambridge University Press. This book was released on 2006-05-29 with total page 844 pages. Available in PDF, EPUB and Kindle. Book excerpt: Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. Written for computer scientists and engineers with interests in artificial intelligence, robotics, or control theory, this is the only book on this topic that tightly integrates a vast body of literature from several fields into a coherent source for teaching and reference in a wide variety of applications. Difficult mathematical material is explained through hundreds of examples and illustrations.
Book Synopsis Algorithmic Foundations of Robotics XV by : Steven M. LaValle
Download or read book Algorithmic Foundations of Robotics XV written by Steven M. LaValle and published by Springer Nature. This book was released on 2022-12-14 with total page 573 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book includes significant recent research on robotic algorithms. It has been written by leading experts in the field. The 15th Workshop on the Algorithmic Foundations of Robotics (WAFR) was held on June 22–24, 2022, at the University of Maryland, College Park, Maryland. Each chapter represents an exciting state-of-the-art development in robotic algorithms that was presented at this 15th incarnation of WAFR. Different chapters combine ideas from a wide variety of fields, spanning and combining planning (for tasks, paths, motion, navigation, coverage, and patrol), computational geometry and topology, control theory, machine learning, formal methods, game theory, information theory, and theoretical computer science. Many of these papers explore new and interesting problems and problem variants that include human–robot interaction, planning and reasoning under uncertainty, dynamic environments, distributed decision making, multi-agent coordination, and heterogeneity.
Book Synopsis Distributed Autonomous Robotic Systems by : M. Ani Hsieh
Download or read book Distributed Autonomous Robotic Systems written by M. Ani Hsieh and published by Springer. This book was released on 2014-06-07 with total page 452 pages. Available in PDF, EPUB and Kindle. Book excerpt: Distributed robotics is a rapidly growing and maturing interdisciplinary research area lying at the intersection of computer science, network science, control theory, and electrical and mechanical engineering. The goal of the Symposium on Distributed Autonomous Robotic Systems (DARS) is to exchange and stimulate research ideas to realize advanced distributed robotic systems. This volume of proceedings includes 31 original contributions presented at the 2012 International Symposium on Distributed Autonomous Robotic Systems (DARS 2012) held in November 2012 at the Johns Hopkins University in Baltimore, MD USA. The selected papers in this volume are authored by leading researchers from Asia, Europa, and the Americas, thereby providing a broad coverage and perspective of the state-of-the-art technologies, algorithms, system architectures, and applications in distributed robotic systems. The book is organized into five parts, representative of critical long-term and emerging research thrusts in the multi-robot community: Coordination for Perception, Coverage, and Tracking; Task Allocation and Coordination Strategies; Modular Robots and Novel Mechanisms and Sensors; Formation Control and Planning for Robot Teams; and Learning, Adaptation, and Cognition for Robot Teams.
Book Synopsis Approximate Multi-agent Planning in Dynamic and Uncertain Environments by : Joshua David Redding
Download or read book Approximate Multi-agent Planning in Dynamic and Uncertain Environments written by Joshua David Redding and published by . This book was released on 2012 with total page 131 pages. Available in PDF, EPUB and Kindle. Book excerpt: Teams of autonomous mobile robotic agents will play an important role in the future of robotics. Efficient coordination of these agents within large, cooperative teams is an important characteristic of any system utilizing multiple autonomous vehicles. Applications of such a cooperative technology stretch beyond multi-robot systems to include satellite formations, networked systems, traffic flow, and many others. The diversity of capabilities offered by a team, as opposed to an individual, has attracted the attention of both researchers and practitioners in part due to the associated challenges such as the combinatorial nature of joint action selection among interdependent agents. This thesis aims to address the issues of the issues of scalability and adaptability within teams of such inter-dependent agents while planning, coordinating, and learning in a decentralized environment. In doing so, the first focus is the integration of learning and adaptation algorithms into a multi-agent planning architecture to enable online adaptation of planner parameters. A second focus is the development of approximation algorithms to reduce the computational complexity of decentralized multi-agent planning methods. Such a reduction improves problem scalability and ultimately enables much larger robot teams. Finally, we are interested in implementing these algorithms in meaningful, real-world scenarios. As robots and unmanned systems continue to advance technologically, enabling a self-awareness as to their physical state of health will become critical. In this context, the architecture and algorithms developed in this thesis are implemented in both hardware and software flight experiments under a class of cooperative multi-agent systems we call persistent health management scenarios.
Book Synopsis Nonlinear Approaches in Engineering Application by : Liming Dai
Download or read book Nonlinear Approaches in Engineering Application written by Liming Dai and published by Springer Nature. This book was released on 2022-04-27 with total page 676 pages. Available in PDF, EPUB and Kindle. Book excerpt: Nonlinear Approaches in Engineering Applications: Design Engineering Problems examines the latest applications of nonlinear approaches in engineering and addresses a range of scientific problems. Chapters are authored by world-class scientists and researchers and focus on the application of nonlinear approaches in different disciplines of engineering and scientific applications, with a strong emphasis on application, physical meaning, and methodologies of the approaches. Topics covered are of high interest in engineering and physics, and an attempt has been made to expose engineers and researchers to a broad range of practical topics and approaches. This book is appropriate for researchers, students, and practicing engineers who are interested in the applications of engineering, physics, and mathematics in nonlinear approaches to solving engineering and science problems.
Book Synopsis Robot Path Planning and Cooperation by : Anis Koubaa
Download or read book Robot Path Planning and Cooperation written by Anis Koubaa and published by Springer. This book was released on 2018-04-05 with total page 205 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents extensive research on two main problems in robotics: the path planning problem and the multi-robot task allocation problem. It is the first book to provide a comprehensive solution for using these techniques in large-scale environments containing randomly scattered obstacles. The research conducted resulted in tangible results both in theory and in practice. For path planning, new algorithms for large-scale problems are devised and implemented and integrated into the Robot Operating System (ROS). The book also discusses the parallelism advantage of cloud computing techniques to solve the path planning problem, and, for multi-robot task allocation, it addresses the task assignment problem and the multiple traveling salesman problem for mobile robots applications. In addition, four new algorithms have been devised to investigate the cooperation issues with extensive simulations and comparative performance evaluation. The algorithms are implemented and simulated in MATLAB and Webots.
Book Synopsis Learning to Collaborate by : Kathleen Sofia Hajash
Download or read book Learning to Collaborate written by Kathleen Sofia Hajash and published by . This book was released on 2018 with total page 76 pages. Available in PDF, EPUB and Kindle. Book excerpt: Since robots were first invented, robotic assembly has been an important area of research in both academic institutions and industry settings. The standard industry approach to robotic assembly lines utilizes fixed robotic arms and prioritizes speed and precision over customization. With a recent shift towards mobile multi-robot teams, researchers have developed a variety of approaches ranging from planning with uncertainty to swarm robotics. However, existing approaches to robotic assembly are either too rigid, with a deterministic planning approach, or do not take advantage of the opportunities available with multiple robots. If we are to push the boundaries of robotic assembly, then we need to make collaborative robots that can work together, without human intervention, to plan and build large structures that they could not complete alone. By developing teams of robots that can collaboratively work together to plan and build large structures, we could aid in disaster relief, enable construction in remote locations, and support the health of construction workers in hazardous environments. In this thesis, I take a first step towards this vision by developing a simple collaborative task wherein agents learn to work together to move rectilinear blocks. I define robotic collaboration as an emergent process that evolves as multiple agents, simulated or physical, learn to work together to achieve a common goal that they could not achieve in isolation. Rather than taking an explicit planning approach, I employ an area of research in artificial intelligence called reinforcement learning, where agents learn an optimal behavior to achieve a specific goal by receiving rewards or penalties for good and bad behavior, respectively. In this thesis, I defined a framework for training the agents and a goal for them to accomplish. I designed, programmed and built two iterations of physical robots. I developed numerous variations of simulation environments for both single and multiple agents, evaluated reinforcement learning algorithms and selected an approach, and established a method for transferring a trained policy to physical robots.
Book Synopsis Annals of Scientific Society for Assembly, Handling and Industrial Robotics by : Thorsten Schüppstuhl
Download or read book Annals of Scientific Society for Assembly, Handling and Industrial Robotics written by Thorsten Schüppstuhl and published by Springer Nature. This book was released on 2020-08-21 with total page 344 pages. Available in PDF, EPUB and Kindle. Book excerpt: This Open Access proceedings present a good overview of the current research landscape of industrial robots. The objective of MHI Colloquium is a successful networking at academic and management level. Thereby the colloquium is focussing on a high level academic exchange to distribute the obtained research results, determine synergetic effects and trends, connect the actors personally and in conclusion strengthen the research field as well as the MHI community. Additionally there is the possibility to become acquainted with the organizing institute. Primary audience are members of the scientific association for assembly, handling and industrial robots (WG MHI).
Book Synopsis Autonomous Agents and Multi-agent Systems by : Jiming Liu
Download or read book Autonomous Agents and Multi-agent Systems written by Jiming Liu and published by World Scientific. This book was released on 2001 with total page 308 pages. Available in PDF, EPUB and Kindle. Book excerpt: An autonomous agent is a computational system that acquires sensory data from its environment and decides by itself how to relate the external stimulus to its behaviors in order to attain certain goals. Responding to different stimuli received from its task environment, the agent may select and exhibit different behavioral patterns. The behavioral patterns may be carefully predefined or dynamically acquired by the agent based on some learning and adaptation mechanism(s). In order to achieve structural flexibility, reliability through redundancy, adaptability, and reconfigurability in real-world tasks, some researchers have started to address the issue of multiagent cooperation. Broadly speaking, the power of autonomous agents lies in their ability to deal with unpredictable, dynamically changing environments. Agent-based systems are becoming one of the most important computer technologies, holding out many promises for solving real-world problems. The aims of this book are to provide a guided tour to the pioneering work and the major technical issues in agent research, and to give an in-depth discussion on the computational mechanisms for behavioral engineering in autonomous agents. Through a systematic examination, the book attempts to provide the general design principles for building autonomous agents and the analytical tools for modeling the emerged behavioral properties of a multiagent system. Contents: Behavioral Modeling, Planning, and Learning; Synthetic Autonomy; Dynamics of Distributed Computation; Self-Organized Autonomy in Multi-Agent Systems; Autonomy-Oriented Computation; Dynamics and Complexity of Autonomy-Oriented Computation. Readership: Undergraduate and graduate students in computer science and most engineering disciplines, as well as computer scientists, engineers, researchers and practitioners in the field of machine intelligence.
Book Synopsis Programming Multi-Agent Systems by : Rem Collier
Download or read book Programming Multi-Agent Systems written by Rem Collier and published by Springer. This book was released on 2012-03-28 with total page 163 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the proceedings of the 8th International Workshop on Programming Multi-Agent Systems held in Toronto, Canada, in May 2010 in conjunction with AAMAS 2010, the 9th International Joint Conference on Autonomous Agents and Multiagent Systems. The 7 revised full papers presented together with 1 invited paper were carefully reviewed and selected for inclusion in the book. The papers cover a broad range of mostly practical topics like decision component of agent systems; practical examples of programming languages; interaction with the environment, and are thus organized in topical sections on reasoning, programming languages, and environments.
Book Synopsis Algorithms for Robotic Motion and Manipulation by : Jean-Paul Laumond
Download or read book Algorithms for Robotic Motion and Manipulation written by Jean-Paul Laumond and published by CRC Press. This book was released on 1997-02-11 with total page 480 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume deals with core problems in robotics, like motion planning, sensor-based planning, manipulation, and assembly planning. It also discusses the application of robotics algorithms in other domains, such as molecular modeling, computer graphics, and image analysis. Topics Include: - Planning - Sensor Based Motion Planning - Control and Moti
Book Synopsis Programming Multi-Agent Systems by : Mehdi Dastani
Download or read book Programming Multi-Agent Systems written by Mehdi Dastani and published by Springer. This book was released on 2004-08-17 with total page 231 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous agents and multi-agent systems have grown into a promising technology offering a credible alternative for the design of intelligent and cooperative systems. Recently efforts have been made to provide novel tools, methods, and frameworks to establish the necessary standards for wider use of MAS as a technology of its own and not only as an attractive paradigm. This book constitutes the thoroughly refereed post-proceedings of the First International Workshop on Programming of the First International Workshop on Programming Multi-Agent Systems, PROMAS 2003, held in Melbourne, Australia in July 2003 as part of AAMAS 2003. Besides 8 workshop papers, the volume contains 3 invited papers to complete coverage of the relevant aspects. The papers are organized in topical sections on programming multi-agent systems, languages for multi-agent systems, and principles and tools for multi-agent systems.
Book Synopsis Genetic Algorithm for the Robotic Assembly Plan Problem by : Jacob Rubinovitz
Download or read book Genetic Algorithm for the Robotic Assembly Plan Problem written by Jacob Rubinovitz and published by . This book was released on 1994 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: FIFTH WORLD CONFERENCE ON ROBOTICS RESEARCH, SEPT. 27029, 1994, CAMBRIDGE, MASSACHUSETTS.
