Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results       Conclusions  ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results     Conclusions    ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail             Experiments and Results            Conclus...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction             Literature Review          Solution Detail            Experiments and Results   Conclusions      ...
Introduction             Literature Review          Solution Detail            Experiments and Results   Conclusions      ...
Introduction             Literature Review          Solution Detail            Experiments and Results   Conclusions      ...
Introduction             Literature Review          Solution Detail            Experiments and Results         Conclusions...
Introduction             Literature Review          Solution Detail            Experiments and Results   Conclusions      ...
Introduction             Literature Review          Solution Detail            Experiments and Results   Conclusions      ...
Some Other Robots  Figure: Rescue robots: a) Talon, b) Wolverine V-2, c) RHex, d) iSENSYS IP3,  e) Intelligent Aerobot, f)...
Introduction             Literature Review          Solution Detail            Experiments and Results   Conclusions      ...
Introduction             Literature Review          Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Opportunity Areas                                          Research Challenges [41, 54, 52]                               ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Multi-Agent Systems Engineering: MaSE [57]
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Capturing Goals       Figure: USAR Requirements [51, 3, 15, 16, 49, 53, 41, 54, 52]
Applying Use Cases: SD-I  Figure: Sequence Diagram I: Explore and  Cover [31, 32, 33, 34, 4, 45, 10, 55, 6, 21, 39, 41]
Applying Use Cases: SD-IIa  Figure: Sequence Diagram IIa: Recognize and  Identify [30, 33, 45, 5, 47, 29, 18, 42, 17, 46]
Applying Use Cases: SD-IIb  Figure: Sequence Diagram IIb: Recognize and  Identify [30, 33, 45, 5, 47, 29, 18, 42, 17, 46]
Applying Use Cases: SD-III  Figure: Sequence Diagram III: Support and  Relief [10, 6, 15, 3, 46, 24, 54, 41, 16, 49]
Roles and Agent Classes I
Roles and Agent Classes II
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Assembling Agent Classes            Figure: Generic group architecture overview.
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction            Literature Review           Solution Detail            Experiments and Results   Conclusions      ...
Introduction            Literature Review           Solution Detail            Experiments and Results   Conclusions      ...
Introduction            Literature Review           Solution Detail            Experiments and Results   Conclusions      ...
Introduction            Literature Review           Solution Detail            Experiments and Results   Conclusions      ...
Introduction            Literature Review           Solution Detail            Experiments and Results   Conclusions      ...
Introduction            Literature Review           Solution Detail            Experiments and Results   Conclusions      ...
Introduction            Literature Review           Solution Detail            Experiments and Results   Conclusions      ...
Introduction            Literature Review           Solution Detail            Experiments and Results   Conclusions      ...
Introduction            Literature Review           Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Towards Reality: System Control Service       Figure: Operator Control Unit (OCU) for robot coordination.
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Introduction           Literature Review            Solution Detail            Experiments and Results   Conclusions      ...
Comrades
Comrades
Comrades
Comrades
Comrades
Comrades
Comrades
Comrades
Comrades
Comrades
Comrades
Comrades
Comrades
Comrades
Comrades
Comrades
Comrades
Upcoming SlideShare
Loading in...5
×

Comrades

395

Published on

Most Recent Dissertation Advances.

Published in: Education, Technology, Business
0 Comments
0 Likes
Statistics
Notes
  • Be the first to comment

  • Be the first to like this

No Downloads
Views
Total Views
395
On Slideshare
0
From Embeds
0
Number of Embeds
0
Actions
Shares
0
Downloads
8
Comments
0
Likes
0
Embeds 0
No embeds

No notes for slide

Comrades

  1. 1. Introduction Literature Review Solution Detail Experiments and Results Conclusions References Coordination of Multiple Robotic Agents for Disasters and Emergency Response A USAR First Responders Approach Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey o March 15th, 2012Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 1 / 98
  2. 2. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesOutline 1 Introduction Background and Motivation Problem Statement and Research Questions 2 Literature Review Relevant Contributions Standards and Open Issues 3 Solution Detail MaSE: Analysis MaSE: Design 4 Experiments and Results Service-oriented Robotics (SOR) Testbed Behavior-based Implementations 5 Conclusions Summary of Contributions Future WorkJes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 2 / 98
  3. 3. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesOutline 1 Introduction Background and Motivation Problem Statement and Research Questions 2 Literature Review Relevant Contributions Standards and Open Issues 3 Solution Detail MaSE: Analysis MaSE: Design 4 Experiments and Results Service-oriented Robotics (SOR) Testbed Behavior-based Implementations 5 Conclusions Summary of Contributions Future WorkJes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 3 / 98
  4. 4. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesBackground and MotivationOutline 1 Introduction Background and Motivation Problem Statement and Research Questions 2 Literature Review Relevant Contributions Standards and Open Issues 3 Solution Detail MaSE: Analysis MaSE: Design 4 Experiments and Results Service-oriented Robotics (SOR) Testbed Behavior-based Implementations 5 Conclusions Summary of Contributions Future WorkJes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 4 / 98
  5. 5. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesBackground and MotivationIntroduction Multi-Robot Systems Rising popularity: Better Software Better Hardware Lowering CostsJes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 5 / 98
  6. 6. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesBackground and MotivationIntroduction Application Domains Military, Exploration, Surveillance, Search and Rescue, Multi-Robot Systems Automation: Home Rising popularity: and Industry... Better Software Better Hardware Lowering CostsJes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 5 / 98
  7. 7. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesBackground and MotivationIntroduction Application Domains Military, Exploration, Surveillance, Search and Rescue, Multi-Robot Systems Automation: Home Rising popularity: and Industry... Better Software Main Reasons Better Hardware Lowering Costs Costs, Performance, Efficiency, Reliability, Reduced Human Exposure...Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 5 / 98
  8. 8. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesBackground and MotivationIntroduction Application Domains Military, Exploration, Surveillance, Search Increasing Challenges and Rescue, Coordination, Multi-Robot Systems Automation: Home Control, and Industry... SLAM, Rising popularity: Tracking, Better Software Resource Main Reasons Better Hardware Management, Lowering Costs Costs, Performance, Suitable Efficiency, Reliability, Communication... Reduced Human Exposure...Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 5 / 98
  9. 9. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesBackground and MotivationTrends and Benefits in the use of Autonomous MRS Figure: Autonomy trends towards 2015 [8].Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 6 / 98
  10. 10. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesBackground and MotivationTrends and Benefits in the use of Autonomous MRS Inherent Advantages of MRS [27] Diversity Greater Efficiency Improved System Performance Fault Tolerance Robustness Substitutability Lower Economic Cost Ease of Development Distributed Sensing and Action Figure: Autonomy trends towards 2015 [8]. Inherent ParallelismJes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 6 / 98
  11. 11. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesBackground and MotivationRescue Robotics = USAR Robotics = USAR Application Domains Search and RescueJes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 7 / 98
  12. 12. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesBackground and MotivationRescue Robotics = USAR Robotics = USAR Application Domains History Facts Search and RescueJes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 7 / 98
  13. 13. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesBackground and MotivationRescue Robotics = USAR Robotics = USAR Application Domains History Facts 1995. Hanshin-Awajii Earthquake, Kobe, Japan. Search and RescueJes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 7 / 98
  14. 14. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesBackground and MotivationRescue Robotics = USAR Robotics = USAR Application Domains History Facts 1995. Hanshin-Awajii Earthquake, Kobe, Japan. Search and Rescue 2001. 9/11 WTC Attacks, New York, US.Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 7 / 98
  15. 15. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesBackground and MotivationRescue Robotics = USAR Robotics = USAR Application Domains History Facts 1995. Hanshin-Awajii Earthquake, Kobe, Japan. Search and Rescue 2001. 9/11 WTC Attacks, New York, US. Definition ([41, 54]) The essence of USAR is to save lives but, other possibilities include: search , reconnaissance and mapping , rubble removal, structural inspection , in-situ medical assessment and intervention, act- ing as a mobile beacon or repeater, serving as a surrogate , adaptively shoring unstable rubble, lo- gistics support, instant deployment, among other human-impossible tasks.Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 7 / 98
  16. 16. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesBackground and Motivation72-Golden Hours Figure: A typical behavior in victim Figure: Survival chances according localization [54]. to victim localization time [12].Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 8 / 98
  17. 17. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesBackground and MotivationWhat’s a Disaster ? I Definition (Emergency Management [36]) Disasters are defined as deadly, destructive, and disruptive events that occur when hazards interact with human vulnerability. These hazards come to be the threat such as an earthquake, CBRNE, terrorist attack, among others (complete list in [36]).Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 9 / 98
  18. 18. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesBackground and MotivationWhat’s a Disaster ? I Definition (Emergency Management [36]) Disasters are defined as deadly, destructive, and disruptive events that occur when hazards interact with human vulnerability. These hazards come to be the threat such as an earthquake, CBRNE, terrorist attack, among others (complete list in [36]). Definition (Rescue Robotics [41]) Disasters are highly uncertain, unstructured and dynamic environments in which actions must occur as fast as possible. These environments make it hard for robots to keep their footing, communicate, sense and to take deliberative decisions because of time constraints, among other difficulties.Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 9 / 98
  19. 19. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesBackground and MotivationWhat’s a Disaster ? II Table: Comparison of event magnitude [36]. Accidents Crises Emergencies/ Calamities/ Catas- Disasters trophes Injuries few many scores/hundreds hundreds/thousands Deaths few many scores/hundreds hundreds/thousands Damage minor moderate major severe Disruption minor moderate major severe Geographic localized disperse disperse/diffuse disperse/diffuse Impact Availability of abundant sufficient limited scarce Resources Number of few many hundreds hundreds/thousands Responders Recovery minutes/ days/weeks months/years years/decades Time hours/daysJes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 10 / 98
  20. 20. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesBackground and MotivationWhat’s Disaster Response ? I Pre-Incident Phases. 1 Mitigation. 2 Preparedness. Post-Incident Phases. 3 Response. 4 Recover.Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 11 / 98
  21. 21. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesBackground and MotivationWhat’s Disaster Response ? I Pre-Incident Phases. Definition ([36, 54, 41]) 1 Mitigation. Disaster response requires the capabilities of 2 Preparedness. being as fast as possible for rescuing survivors and avoiding any further damage, while being cautious and delicate enough to prevent any Post-Incident Phases. additional risk. It consists of the actions 3 Response. immediately after the disaster for protecting 4 Recover. lives and property.Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 11 / 98
  22. 22. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesBackground and MotivationWhat’s Disaster Response ? II Persistent Disaster Response Operational Procedure [36, 54, 41]. 1) Gather the facts. 2) Asses damage. 3) Identify and acquire resources. 4) Establish rescue priorities. 5) Develop a rescue plan. 6) Conduct the search and rescue operations. Search , cover , follow walls , analyse debris , listen for survivors , develop everything that is considered as useful for saving lives. According to [54], this step is the one that takes the longest time. 7) Evaluate progress. Prevention of further damage demands for continuously monitoring the situation including to see if the plan is working or there must be a better strategy.Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 12 / 98
  23. 23. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesProblem Statement and Research QuestionsOutline 1 Introduction Background and Motivation Problem Statement and Research Questions 2 Literature Review Relevant Contributions Standards and Open Issues 3 Solution Detail MaSE: Analysis MaSE: Design 4 Experiments and Results Service-oriented Robotics (SOR) Testbed Behavior-based Implementations 5 Conclusions Summary of Contributions Future WorkJes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 13 / 98
  24. 24. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesProblem Statement and Research QuestionsA Particular Need for Rescue Robots Witnessed Human Errors [36]. Untrained volunteers, Too many volunteers, Encountered priorities, Bureaucracy/Formalities, Emotions, frustrations, ...Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 14 / 98
  25. 25. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesProblem Statement and Research QuestionsA Particular Need for Rescue Robots Rescue Robots [41, 54] Built for specific purposes, Witnessed Human Errors [36]. Robots do not look for Untrained volunteers, relatives, Too many volunteers, Instant deployable, Encountered priorities, No emotions, no frustrations, Bureaucracy/Formalities, Usually expendable, Emotions, frustrations, ... Highly capable for search and coverage, wall following, sensing under harsh environments, ...Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 14 / 98
  26. 26. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesProblem Statement and Research QuestionsProblem Statement How do we coordinate and control multiple robots so as to achieve cooperative behavior for assisting in disaster and emergency response, specifically, in urban search and rescue operations? Main Factors Navigation, Strategy, and Time.Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 15 / 98
  27. 27. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesProblem Statement and Research QuestionsResearch Questions 1 How to formulate, describe, decompose and allocate USAR missions among a MRS so as to achieve faster completion?Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 16 / 98
  28. 28. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesProblem Statement and Research QuestionsResearch Questions 1 How to formulate, describe, decompose and allocate USAR missions among a MRS so as to achieve faster completion? 2 How to provide appropriate communication, interaction, and conflict recognition and reconciliation between the MRS so as to achieve efficient interoperability in USAR?Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 16 / 98
  29. 29. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesProblem Statement and Research QuestionsResearch Questions 1 How to formulate, describe, decompose and allocate USAR missions among a MRS so as to achieve faster completion? 2 How to provide appropriate communication, interaction, and conflict recognition and reconciliation between the MRS so as to achieve efficient interoperability in USAR? 3 How to ensure robustness for USAR mission accomplishment with current technology which is better for simple but fast control?Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 16 / 98
  30. 30. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesProblem Statement and Research QuestionsResearch Questions 1 How to formulate, describe, decompose and allocate USAR missions among a MRS so as to achieve faster completion? 2 How to provide appropriate communication, interaction, and conflict recognition and reconciliation between the MRS so as to achieve efficient interoperability in USAR? 3 How to ensure robustness for USAR mission accomplishment with current technology which is better for simple but fast control? 4 How to measure performance in USAR so as to learn and adapt robotic behaviors?Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 16 / 98
  31. 31. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesProblem Statement and Research QuestionsResearch Questions 1 How to formulate, describe, decompose and allocate USAR missions among a MRS so as to achieve faster completion? 2 How to provide appropriate communication, interaction, and conflict recognition and reconciliation between the MRS so as to achieve efficient interoperability in USAR? 3 How to ensure robustness for USAR mission accomplishment with current technology which is better for simple but fast control? 4 How to measure performance in USAR so as to learn and adapt robotic behaviors? 5 How to make the whole system extendible, scalable, robust and reliable?Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 16 / 98
  32. 32. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesOutline 1 Introduction Background and Motivation Problem Statement and Research Questions 2 Literature Review Relevant Contributions Standards and Open Issues 3 Solution Detail MaSE: Analysis MaSE: Design 4 Experiments and Results Service-oriented Robotics (SOR) Testbed Behavior-based Implementations 5 Conclusions Summary of Contributions Future WorkJes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 17 / 98
  33. 33. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesRelevant ContributionsOutline 1 Introduction Background and Motivation Problem Statement and Research Questions 2 Literature Review Relevant Contributions Standards and Open Issues 3 Solution Detail MaSE: Analysis MaSE: Design 4 Experiments and Results Service-oriented Robotics (SOR) Testbed Behavior-based Implementations 5 Conclusions Summary of Contributions Future WorkJes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 18 / 98
  34. 34. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesRelevant ContributionsInformation Collection I [2] Figure: Task force in rescue infrastructure. Image from [2]Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 19 / 98
  35. 35. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesRelevant ContributionsInformation Collection II [26, 9] Figure: Examples of templates for disaster response. Image based on [26, 9]Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 20 / 98
  36. 36. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesRelevant ContributionsCoordination, Localization and Mapping Figure: Coordinated Figure: Real model exploration using Figure: Visual and generated maps costs and utilities. localization and path of a 60 m. hall using Edited from [10] following. Edited a MRS.Image from [19] from [20].Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 21 / 98
  37. 37. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesRelevant ContributionsRecognition and User Interfacing Figure: Human and human-behavior Figure: Interface for multi-robot vision-based recognition. Edited rescue systems. Image from [43] from [18, 42]Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 22 / 98
  38. 38. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesRelevant ContributionsDesign Challenges Key Aspects [7, 37, 39, 6, 28, 40, 54] Small Expendable Usable Hazards-protected Instrumentation Mobility Figure: Miniature, Wheeled and Tracked Rescue Robots [25, 40, 48].Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 23 / 98
  39. 39. Some Other Robots Figure: Rescue robots: a) Talon, b) Wolverine V-2, c) RHex, d) iSENSYS IP3, e) Intelligent Aerobot, f) muFly microcopter, g) Chinese firefighting robot, h) Teleoperated extinguisher, i) Unmanned surface vehicle, j) Predator, k) T-HAWK, l) Bluefin HAUV. Images from [35, 28, 41, 54, 56]
  40. 40. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesRelevant ContributionsReal Implementations: No significant results. Figure: Real pictures from the WTC Tower 2. a) shows a rescue robot within the white box navigating in the rubble; b) robots-eye view with three sets of victim remains. Image edited from [39] and [38] Figure: Mine rescue: a) (SE), b)(BE), c) (VE), d) Inuktun in a BE [40].Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 25 / 98
  41. 41. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesRelevant ContributionsTestbed Implementations Figure: MRS for search and monitoring: a) Piper J3 UAVs; b) Figure: Demonstration of integrated heterogeneous UGVs. Edited search operations: a) robots at from [22] initial positions, b) robots searching for human target, c) alert of target found, d) display nearest UGV view of the target. Edited from [22]Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 26 / 98
  42. 42. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesStandards and Open IssuesOutline 1 Introduction Background and Motivation Problem Statement and Research Questions 2 Literature Review Relevant Contributions Standards and Open Issues 3 Solution Detail MaSE: Analysis MaSE: Design 4 Experiments and Results Service-oriented Robotics (SOR) Testbed Behavior-based Implementations 5 Conclusions Summary of Contributions Future WorkJes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 27 / 98
  43. 43. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesStandards and Open IssuesUSAR International Standards: RoboCup Rescue2002- Figure: Standardized test arenas for rescue robotics: a) Red Arena, b) Orange Arena, c) Yellow Arena. Image from [11] Figure: Standardized evaluations provided by the NIST [44].Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 28 / 98
  44. 44. Opportunity Areas Research Challenges [41, 54, 52] Control Communications Sensors and Perceptions Mobility Power HRI Localization and data integration Autonomy Cooperation Figure: Major challenges for networked robots. Image from [24]. Performance Metrics Components’ Performance
  45. 45. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesStandards and Open IssuesRoadmap to 2015 [54] Hardware design and Information collection Unmanned vehicles will be more hazards-protected and better equipped for search and gather information from disasters. ...Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 30 / 98
  46. 46. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesStandards and Open IssuesRoadmap to 2015 [54] Hardware design and Information collection Unmanned vehicles will be more hazards-protected and better equipped for search and gather information from disasters. ... Victim triage and structural damage assessment. HRI: augment autonomy and intelligence on robots. ...Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 30 / 98
  47. 47. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesOutline 1 Introduction Background and Motivation Problem Statement and Research Questions 2 Literature Review Relevant Contributions Standards and Open Issues 3 Solution Detail MaSE: Analysis MaSE: Design 4 Experiments and Results Service-oriented Robotics (SOR) Testbed Behavior-based Implementations 5 Conclusions Summary of Contributions Future WorkJes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 31 / 98
  48. 48. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesSolution Detail Given a search and rescue scenario, the needs for disaster response operations, and the reported con- tributions over literature; how can we come up with an integral solution ?Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 32 / 98
  49. 49. Multi-Agent Systems Engineering: MaSE [57]
  50. 50. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesMaSE: AnalysisOutline 1 Introduction Background and Motivation Problem Statement and Research Questions 2 Literature Review Relevant Contributions Standards and Open Issues 3 Solution Detail MaSE: Analysis MaSE: Design 4 Experiments and Results Service-oriented Robotics (SOR) Testbed Behavior-based Implementations 5 Conclusions Summary of Contributions Future WorkJes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 34 / 98
  51. 51. Capturing Goals Figure: USAR Requirements [51, 3, 15, 16, 49, 53, 41, 54, 52]
  52. 52. Applying Use Cases: SD-I Figure: Sequence Diagram I: Explore and Cover [31, 32, 33, 34, 4, 45, 10, 55, 6, 21, 39, 41]
  53. 53. Applying Use Cases: SD-IIa Figure: Sequence Diagram IIa: Recognize and Identify [30, 33, 45, 5, 47, 29, 18, 42, 17, 46]
  54. 54. Applying Use Cases: SD-IIb Figure: Sequence Diagram IIb: Recognize and Identify [30, 33, 45, 5, 47, 29, 18, 42, 17, 46]
  55. 55. Applying Use Cases: SD-III Figure: Sequence Diagram III: Support and Relief [10, 6, 15, 3, 46, 24, 54, 41, 16, 49]
  56. 56. Roles and Agent Classes I
  57. 57. Roles and Agent Classes II
  58. 58. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesMaSE: DesignOutline 1 Introduction Background and Motivation Problem Statement and Research Questions 2 Literature Review Relevant Contributions Standards and Open Issues 3 Solution Detail MaSE: Analysis MaSE: Design 4 Experiments and Results Service-oriented Robotics (SOR) Testbed Behavior-based Implementations 5 Conclusions Summary of Contributions Future WorkJes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 42 / 98
  59. 59. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesMaSE: DesignDesign as a Service Advantages Modularity. Compositional functionality. Provide simple abstraction. Manageability of heterogeneity. Ease of integrating new robots. Inherent distributed structure. Fully meshed data interchange. Support dynamic discovery. Rapid prototyping. Highly reusable/upgradeable. Figure: Service-oriented design. Devices and language independent.Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 43 / 98
  60. 60. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesMaSE: DesignBehaviors as a ServiceJes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey o Figure: Generic group architecture overview.Coordination of Multiple Robotic Agents for Disasters and Emergency Response 44 / 98
  61. 61. Assembling Agent Classes Figure: Generic group architecture overview.
  62. 62. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesMaSE: DesignCoordination: Finite State Automata Figure: From states to behaviors in single and multiple robots. Edited from [1].Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 46 / 98
  63. 63. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesMaSE: DesignCoordination: Behaviors Fusion Figure: Classic and new artificial intelligence approaches. Edited from [50].Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 47 / 98
  64. 64. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesOutline 1 Introduction Background and Motivation Problem Statement and Research Questions 2 Literature Review Relevant Contributions Standards and Open Issues 3 Solution Detail MaSE: Analysis MaSE: Design 4 Experiments and Results Service-oriented Robotics (SOR) Testbed Behavior-based Implementations 5 Conclusions Summary of Contributions Future WorkJes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 48 / 98
  65. 65. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesService-oriented Robotics (SOR)Outline 1 Introduction Background and Motivation Problem Statement and Research Questions 2 Literature Review Relevant Contributions Standards and Open Issues 3 Solution Detail MaSE: Analysis MaSE: Design 4 Experiments and Results Service-oriented Robotics (SOR) Testbed Behavior-based Implementations 5 Conclusions Summary of Contributions Future WorkJes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 49 / 98
  66. 66. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesService-oriented Robotics (SOR).NET Robotics: “The Windows Paradigm” “Avoids common pitfalls by managing: Asynchrony, Concurrency, Coordination and Failure Handling”. Figure: DSS service lifecycle and CCR automatic threading [23].Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 50 / 98
  67. 67. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesService-oriented Robotics (SOR)Exploiting SOR Figure: Local and remote data interchange.Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 51 / 98
  68. 68. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesService-oriented Robotics (SOR)Testing Multiple Service Providers Figure: Developed tests with off-the-shelf provided services [13].Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 52 / 98
  69. 69. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesService-oriented Robotics (SOR)Main Observations I Figure: Highly transparent simulation to reality [13].Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 53 / 98
  70. 70. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesService-oriented Robotics (SOR)Main Observations II Figure: Fast, easy and reliable 3D simulations [13].Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 54 / 98
  71. 71. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesService-oriented Robotics (SOR)Towards Complete Deployments Figure: Service-oriented group architecture [14].Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 55 / 98
  72. 72. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesService-oriented Robotics (SOR)Testing the Idea Figure: Subscription process and messaging in the proposed architecture [14].Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 56 / 98
  73. 73. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesService-oriented Robotics (SOR)Service-oriented Generic Architecture Characteristics [14] 1 Robotic hardware independent. 2 Mission/domain independent. 3 Computer resource independent. 4 Multiple autonomy levels. 5 Decentralized functionality. 6 Distributed composition. 7 Upgradeable, extendible and scalable. 8 Enhanced interoperability. 9 Reliable and time-suitable communications. 10 Availability for one-to-many control.Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 57 / 98
  74. 74. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesTestbed Behavior-based ImplementationsOutline 1 Introduction Background and Motivation Problem Statement and Research Questions 2 Literature Review Relevant Contributions Standards and Open Issues 3 Solution Detail MaSE: Analysis MaSE: Design 4 Experiments and Results Service-oriented Robotics (SOR) Testbed Behavior-based Implementations 5 Conclusions Summary of Contributions Future WorkJes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 58 / 98
  75. 75. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesTestbed Behavior-based ImplementationsSimulations Framework Figure: MSRDS .NET Service: mapping, p2p control, path drawing, and environment loading from .bmp files.Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 59 / 98
  76. 76. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesTestbed Behavior-based ImplementationsTesting Primitive BehaviorsFigure: Wall Following, Seek and Disperse Figure: Object recognition for victim/threatbehaviors. recognition behaviors.Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 60 / 98
  77. 77. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesTestbed Behavior-based ImplementationsTesting Composite Behaviors Figure: Flocking and Exploration behaviors.Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 61 / 98
  78. 78. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesTestbed Behavior-based ImplementationsInteresting Results: Single Robot Figure: Autonomous exploration results using one robot.Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 62 / 98
  79. 79. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesTestbed Behavior-based ImplementationsInteresting Results: Multi-Robot Figure: Autonomous exploration results using multiple robots.Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 63 / 98
  80. 80. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesTestbed Behavior-based ImplementationsInteresting Results: Multi-Robot Figure: Autonomous exploration results using multiple robots.Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 64 / 98
  81. 81. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesTestbed Behavior-based ImplementationsInteresting Results: Complexity Reduction Figure: Comparison between a) most popular literature and b) our behavior-based autonomous exploration.Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 65 / 98
  82. 82. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesTestbed Behavior-based ImplementationsTowards Reality: Testbed Setup Figure: Robots and environment for deployment tests.Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 66 / 98
  83. 83. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesTestbed Behavior-based ImplementationsTowards Reality: Subsystems Control Service Figure: Operator Control Unit (OCU) for robot control.Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 67 / 98
  84. 84. Towards Reality: System Control Service Figure: Operator Control Unit (OCU) for robot coordination.
  85. 85. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesTestbed Behavior-based ImplementationsTowards Reality: Localization Figure: Localization service.Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 69 / 98
  86. 86. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesOutline 1 Introduction Background and Motivation Problem Statement and Research Questions 2 Literature Review Relevant Contributions Standards and Open Issues 3 Solution Detail MaSE: Analysis MaSE: Design 4 Experiments and Results Service-oriented Robotics (SOR) Testbed Behavior-based Implementations 5 Conclusions Summary of Contributions Future WorkJes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 70 / 98
  87. 87. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesSummary of ContributionsOutline 1 Introduction Background and Motivation Problem Statement and Research Questions 2 Literature Review Relevant Contributions Standards and Open Issues 3 Solution Detail MaSE: Analysis MaSE: Design 4 Experiments and Results Service-oriented Robotics (SOR) Testbed Behavior-based Implementations 5 Conclusions Summary of Contributions Future WorkJes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 71 / 98
  88. 88. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesSummary of ContributionsMain Contributions 1 USAR modularization leveraging local perceptions and mission decomposition into subtasks concerning specific role, behaviors and actions.Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 72 / 98
  89. 89. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesSummary of ContributionsMain Contributions 1 USAR modularization leveraging local perceptions and mission decomposition into subtasks concerning specific role, behaviors and actions. 2 Primitive and composite service-oriented behaviors fully described, decomposed into robotic actions, and organized by roles for addressing USAR operations.Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 72 / 98
  90. 90. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesSummary of ContributionsMain Contributions 1 USAR modularization leveraging local perceptions and mission decomposition into subtasks concerning specific role, behaviors and actions. 2 Primitive and composite service-oriented behaviors fully described, decomposed into robotic actions, and organized by roles for addressing USAR operations. 3 USAR robotic distributed, semi-autonomous coordinator in a RBA plus FSM strategy with a SOR-based infrastructure focusing in features such as modularity, scalability, extendibility, among others.Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 72 / 98
  91. 91. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesSummary of ContributionsMain Contributions 1 USAR modularization leveraging local perceptions and mission decomposition into subtasks concerning specific role, behaviors and actions. 2 Primitive and composite service-oriented behaviors fully described, decomposed into robotic actions, and organized by roles for addressing USAR operations. 3 USAR robotic distributed, semi-autonomous coordinator in a RBA plus FSM strategy with a SOR-based infrastructure focusing in features such as modularity, scalability, extendibility, among others. 4 Study of emergence of rescue robotic team behaviors and their applicability in real disasters.Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 72 / 98
  92. 92. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesSummary of ContributionsRemarks Agent Classes Situatedness, Embodiment, Reactivity, Relevance / Locality, Consistency, Representation, Synthesis, Cooperation, Interference, Individuality, Adaptability, Extendible, Programmability, Emergence, Reliability and Robustness. System Assembly Flexible, Scalable, Easy to Upgrade, Heterogeneity Management, Inherent Negotiation Structure, Fully Meshed Data Interchange, Handles Communication Disruption, Highly Reusable.Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 73 / 98
  93. 93. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesFuture WorkOutline 1 Introduction Background and Motivation Problem Statement and Research Questions 2 Literature Review Relevant Contributions Standards and Open Issues 3 Solution Detail MaSE: Analysis MaSE: Design 4 Experiments and Results Service-oriented Robotics (SOR) Testbed Behavior-based Implementations 5 Conclusions Summary of Contributions Future WorkJes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 74 / 98
  94. 94. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesFuture WorkTowards Full Autonomy Enhanced Autonomy & Complete Deployments Implement better 2D and 3D localization methods. Develop complete Explore + Recognize + Support tests. Enable for autonomous state transitions at coordinator. Provide adaptivity and learning capabilities.Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 75 / 98
  95. 95. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesFuture WorkOther Evaluation Methods Performance Measurement TE Task Effectiveness, Completed / Failed. TTD Task Time Development, Time to complete a task. TTC Task Time Communicating, Time spent in communications. FO Fan Out, Robot utilization. Others Task/Mission Coverage, RBA Stats, MTBF, Targets Found, ...Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 76 / 98
  96. 96. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesReferences I Ronald C. Arkin. Behavior-Based Robotics. The MIT Press, 1998. H. Asama, Y. Hada, K. Kawabata, I. Noda, O. Takizawa, J. Meguro, K. Ishikawa, T. Hashizume, T. Ohga, K. Takita, M. Hatayama, F. Matsuno, and S. Tadokoro. Rescue Robotics. DDT Project on Robots and Systems for Urban Search and Rescue, chapter 4. Information Infrastructure for Rescue System, pages 57–70. Springer, March 2009.Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 77 / 98
  97. 97. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesReferences II S. Balakirsky, Stefano Carpin, Alexander Kleiner, Michael Lewis, Arnoud Visser, Jijun Wang, and Vittorio Amos Ziparo. Towards heterogeneous robot teams for disaster mitigation: Results and performance metrics from robocup rescue. Journal of Field Robotics, 24(11-12):943–967, 2007. T. Balch. Avoiding the past: a simple but effective strategy for reactive navigation. In Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on, volume vol.1, pages 678 –685, may 1993.Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 78 / 98
  98. 98. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesReferences III T. Balch and R.C. Arkin. Behavior-based formation control for multirobot teams. Robotics and Automation, IEEE Transactions on, 14(6):926 –939, dec 1998. Andreas Birk and Stefano Carpin. Rescue robotics - a crucial milestone on the road to autonomous systems. Advanced Robotics Journal, 20(5):595–605, 2006. John G. Blitch. Artificial intelligence technologies for robot assisted urban search and rescue. Expert Systems with Applications, 11(2):109 – 124, 1996. Army Applications of Artificial Intelligence.Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 79 / 98
  99. 99. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesReferences IV D. Bowen and S. MacKenzie. Autonomous collaborative unmanned vehicles: Technological drivers and constraints. Technical report, Defence Research and Development Canada, 2003. Tung Bui and Alex Tan. A template-based methodology for large-scale ha/dr involving ephemeral groups - a workflow perspective. In System Sciences, 2007. HICSS 2007. 40th Annual Hawaii International Conference on, page 34, jan. 2007. W. Burgard, M. Moors, C. Stachniss, and F.E. Schneider. Coordinated multi-robot exploration. Robotics, IEEE Transactions on, 21(3):376 – 386, june 2005.Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 80 / 98
  100. 100. Introduction Literature Review Solution Detail Experiments and Results Conclusions ReferencesReferences V Stefano Carpin, Jijun Wang, Michael Lewis, Andreas Birk, and Adam Jacoff. High fidelity tools for rescue robotics: Results and perspectives. In Ansgar Bredenfeld, Adam Jacoff, Itsuki Noda, and Yasutake Takahashi, editors, RoboCup, volume 4020 of Lecture Notes in Computer Science, pages 301–311. Springer, 2005. J. L. Casper, M. Micire, and Robin R. Murphy. Issues in intelligent robots for search and rescue. In & C. M. Shoemaker G. R. Gerhart, R. W. Gunderson, editor, Society of Photo-Optical Instrumentation Engineers (SPIE) Conference Series, volume 4024 of Presented at the Society of Photo-Optical Instrumentation Engineers (SPIE) Conference, pages 292–302, jul 2000.Jes´s Salvador Cepeda Barrera u Tecnol´gico de Monterrey oCoordination of Multiple Robotic Agents for Disasters and Emergency Response 81 / 98
  1. A particular slide catching your eye?

    Clipping is a handy way to collect important slides you want to go back to later.

×