Distributed Autonomous Robotic Systems 6
DARS is now a well-established conference that gathers every two years the main researchers in Distributed Robotics systems. Even if the field is growing, it has been maintained a one-track conference in order to enforce effective exchanges between the ma
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Distributed Autonomous Robotic Systems 6
Rachid Alami, Raja Chatila, Hajime Asama (Eds.)
Distributed Autonomous Robotic Systems 6
With 220 Figures
^ S p r iinger
RachidAlami,Ph.D. Senior Scientist, LAASCNRS, 7 Avenue du Colonel Roche, 31077 Toulouse Cedex 4, France RajaChatila,Ph.D. Senior Scientist, LAASCNRS, 7 Avenue du Colonel Roche, 31077 Toulouse Cedex 4, France Hajime Asama, Ph.D. Professor, Research into Artifacts, Center for Engineering, The University of Tokyo, 5-1-5 Kashiwanoha, Kashiwa, Chiba 277-8568, Japan
Library of Congress Control Number: 2006928856 ISBN 978-4-431 -35869-5 Springer Tokyo Berlin Heidelberg New York Printed in Japan This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in other ways, and storage in data banks. The use of registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. Springer is a part of Springer Science+Business Media springer.com © Springer 2007 Printed in Japan Typesetting: Camera-ready by the editors and authors Printing and binding: Hicom, Japan Printed on acid-free paper
Preface
The DARS (Distributed Autonomous Robotic Systems) symposia series have spun around the globe every two years since 1992. The 2004 edition was held on June 23-25 at LAAS-CNRS in Toulouse, France, and attended by over 75 international participants from 16 countries in Asia, the Americas and Europe. The 46 papers selected by a peer review process provide an excellent coverage of the latest progress in the state of the art in multi-robot systems. The main topics at DARS 2004 addressed the challenges facing the distribution of embodied intelligence, the interaction of intelligent machines and the complex dynamics emerging from interacting agents. Papers reported on latest research results on several frontier problems. One of the exciting issues is reconfigurability, be it software or hardware, and its relation to growth. Another flourishing research topic is the design of architectures providing for distributed control among (sometimes heterogeneous) robots, while preserving coherence of their behavior. Mobility and motion coordination among multiple robots is another central issue. Other reported work focuses on the relationship between mobility and intelligence, where cooperative behaviors emerge from interaction. Cooperation and coordination are however much wider than mobility and several papers address these issues for the accomplishment of tasks by multiple robots. One of those tasks is perception and mapping, in which cooperation poses difficult problems of information sharing. Several papers addressed the interaction of large numbers of entities in swarms or in groups, a very rich interdisciplinary question on which robo
