Multi-Robot Systems. From Swarms to Intelligent Automata Volume III
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Multi-Robot Systems. From Swarms to Intelligent Automata Volume III Proceedings from the 2005 International Workshop on Multi-Robot Systems
Edited by
LYNNE E. PARKER The University of Tennessee, Knoxville, TN, U.S.A.
FRANK E. SCHNEIDER FGAN, Wachtberg, Germany and
ALAN C. SCHULTZ Navy Center for Applied Research in A.I., Naval Research Laboratory, Washington, DC, U.S.A.
A C.I.P. Catalogue record for this book is available from the Library of Congress.
ISBN-10 1-4020-3388-5 (HB) Springer Dordrecht, Berlin, Heidelberg, New York ISBN-10 1-4020-3389-3 (e-book) Springer Dordrecht, Berlin, Heidelberg, New York ISBN-13 978-1-4020-3388-9 (HB) Springer Dordrecht, Berlin, Heidelberg, New York ISBN-13 978-1-4020-3389-6 (e-book) Springer Dordrecht, Berlin, Heidelberg, New York Published by Springer, P.O. Box 17, 3300 AA Dordrecht, The Netherlands.
Printed on acid-free paper
All Rights Reserved © 2005 Springer No part of this work may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, microfilming, recording or otherwise, without written permission from the Publisher, with the exception of any material supplied specifically for the purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work. Printed in the Netherlands.
Contents
Preface
ix
Part I Task Allocation The Generation of Bidding Rules for Auction-Based Robot Coordination Craig Tovey, Michail G. Lagoudakis, Sonal Jain, and Sven Koenig
3
Issues in Multi-Robot Coalition Formation Lovekesh Vig and Julie A. Adams
15
Sensor Network-Mediated Multi-Robot Task Allocation Maxim A. Batalin and Gaurav S. Sukhatme
27
Part II Coordination in Dynamic Environments Multi-Objective Cooperative Control of Dynamical Systems Zhihua Qu, Jing Wang, and Richard A. Hull
41
Levels of Multi-Robot Coordination for Dynamic Environments Colin P. McMillen, Paul E. Rybski, and Manuela M. Veloso
53
Parallel Stochastic Hill-Climbing with Small Teams Brian P. Gerkey, Sebastian Thrun, Geoff Gordon
65
Toward Versatility of Multi-Robot Systems Colin Cherry and Hong Zhang
79
Part III Information / Sensor Sharing and Fusion Decentralized Communication Strategies for Coordinated Multi-Agent Policies Maayan Roth, Reid Simmons, and Manuela Veloso Improving p g Multirobot Multitarget Tracking by Communicating Negative Information Matthew Powers, Ramprasad Ravichandran, Frank Dellaert, and Tucker Balch
93
107
vi
MULTI-ROBOT SYSTEMS
Enablingg Autonomous Sensor-Sharing for Tightly-Coupled Cooperative Tasks Lynne E. Parker, Maureen Chandra, and Fang Tang
119
Part IV Distributed Mapping and Coverage Merging Partial Maps without Using Odometry Francesco Amigoni, Simone Gasparini, and Maria Gini Fr Distributed Coverage g of Unknown/Unstructured Environments by Mobile Sensor Networks Ioannis Rekleitis, Ai Peng P New, and Howie Choset Part V
133
145
Motion Planning and Control
Real-Time Multi-Robot Motion Planning with Safe Dynamics James Bruce and Manuela Velo
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