Topic
AISoy1
About: AISoy1 is a research topic. Over the lifetime, 523 publications have been published within this topic receiving 11175 citations. The topic is also known as: AISoy.
Papers published on a yearly basis
Papers
TL;DR: This paper presents an approach for the coordination of multiple robots, which simultaneously takes into account the cost of reaching a target point and its utility and describes how this algorithm can be extended to situations in which the communication range of the robots is limited.
Abstract: In this paper, we consider the problem of exploring an unknown environment with a team of robots. As in single-robot exploration the goal is to minimize the overall exploration time. The key problem to be solved in the context of multiple robots is to choose appropriate target points for the individual robots so that they simultaneously explore different regions of the environment. We present an approach for the coordination of multiple robots, which simultaneously takes into account the cost of reaching a target point and its utility. Whenever a target point is assigned to a specific robot, the utility of the unexplored area visible from this target position is reduced. In this way, different target locations are assigned to the individual robots. We furthermore describe how our algorithm can be extended to situations in which the communication range of the robots is limited. Our technique has been implemented and tested extensively in real-world experiments and simulation runs. The results demonstrate that our technique effectively distributes the robots over the environment and allows them to quickly accomplish their mission.
1,265 citations
20 Sep 2004
TL;DR: A definition of social robots is proposed and a framework that classifies properties of social Robots is described, which consist of form, modality, social norms, autonomy, and interactivity.
Abstract: Robots currently integrate into our everyday lives, but little is known about how they can act socially. In this paper, we propose a definition of social robots and describe a framework that classifies properties of social robots. The properties consist of form, modality, social norms, autonomy, and interactivity. Finally, we provide broad guidelines for the design of social robots.
458 citations
6 Jan 2003
TL;DR: A theory of human-robot interaction is outlined and the interactions and information needed by both humans and robots for the different levels of interaction are proposed, including an evaluation methodology based on situational awareness.
Abstract: Human-robot interaction (HRI) for mobile robots is still in its infancy. Most user interactions with robots have been limited to tele-operation capabilities where the most common interface provided to the user has been the video feed from the robotic platform and some way of directing the path of the robot. For mobile robots with semiautonomous capabilities, the user is also provided with a means of setting way points. More importantly, most HRI capabilities have been developed by robotics experts for use by robotics experts. As robots increase in capabilities and are able to perform more tasks in an autonomous manner we need to think about the interactions that humans will have with robots and what software architecture and user interface designs can accommodate the human in-the-loop. We also need to design systems that can be used by domain experts but not robotics experts. This paper outlines a theory of human-robot interaction and proposes the interactions and information needed by both humans and robots for the different levels of interaction, including an evaluation methodology based on situational awareness.
418 citations
TL;DR: This paper studies a hard task for a set of weak robots and shows that the tasks that such a system of robots can perform depend strongly on their common agreement about their environment, i.e. the readings of their environment sensors.
275 citations
TL;DR: In this article, the authors present a mathematical model of a general dynamic task allocation mechanism, where robots have to choose between two types of tasks, and the goal is to achieve a desired task division in the absence of explicit communication and global knowledge.
Abstract: Dynamic task allocation is an essential requirement for multi-robot systems operating in unknown dynamic environments. It allows robots to change their behavior in response to environmental changes or actions of other robots in order to improve overall system performance. Emergent coordination algorithms for task allocation that use only local sensing and no direct communication between robots are attractive because they are robust and scalable. However, a lack of formal analysis tools makes emergent coordination algorithms difficult to design. In this paper we present a mathematical model of a general dynamic task allocation mechanism. Robots using this mechanism have to choose between two types of tasks, and the goal is to achieve a desired task division in the absence of explicit communication and global knowledge. Robots estimate the state of the environment from repeated local observations and decide which task to choose based on these observations. We model the robots and observations as stochastic processes and study the dynamics of the collective behavior. Specifically, we analyze the effect that the number of observations and the choice of the decision function have on the performance of the system. The mathematical models are validated in a multi-robot multi-foraging scenario. The model's predictions agree very closely with results of embodied simulations.
275 citations
Related Topics (5)
Performance Metrics
| Year | Papers |
|---|---|
| 2018 | 2 |
| 2017 | 24 |
| 2016 | 26 |
| 2015 | 30 |
| 2014 | 22 |
| 2013 | 26 |