In this seminar/course we shall study the ideas, behavior and performance of
robots and teams of robots. Starting with basic terms, we shall go over some
abstract ideas of cooperation, and then study specific tasks, e.g. sorting,
covering and pattern formation. For each task we shall consider both
theoretical and experimental results, and a stress will be given, wherever
possible, to mathematical models of such teams.
For details and examples, see the
list of topics.
Class: Taub 03, Tuesday
Dr. Israel Wagner
Reception: Taub 720, Tuesday ,
by appointment (via phone or email)
An outline of your
presentation (list of sub-topics, time for each) should be e-mailed to me,
at least one week before presenting it in class.
preparing your duties for the MultiRobotics seminar
Please read carefully.
In this course, in addition to attending the class,
you have to do three things:
Presenting a topic,
according to guidelines given in class
You have to choose a problem from the topic you presented and run a
simulation program to investigate the problem. The programming language
is up to you, but you have to report it in a very clear way. Your report
and background: where does it come from, why is it of interest, why
simulation is a good way to investigate this problem
the structure of your
the results and what
can be learned from them
discussion of further
investigations that can be done of this problem
submitting a final
your presentation in
a detailed report of
your simulation work
Together with your
simulation result, you should add the answers to the questionnaire
I. Suzuki and M. Yamashita: "Distributed
Anonymous Mobile Robots: Formation of Geometric Patterns", SIAM
Journal on Computing, Vol. 28 No.4, pp. 1347-1363 (1999)
H. Ando, Y. Oasa, I. Suzuki, and M.
Yamashita: "Distributed Memoryless Point Convergence Algorithm
for Mobile Robots with Limited Visibility", IEEE Transactions
on Robotics and Automation, Vol 15, No 5, October 1999, pp.
[A. M. Bruckstein, G. Sapiro,
D. Shaked:"Evolution of Planar Polygons", Int. J. of
Pattern Recognition and AI, Vol. 9 No. 6 (1995) pp. 991-1014. ]
J.L. Deneubourg et. al.: "The
Dynamics of Collective Sorting: Robot-Like Ants and Ant-Like
Robots", First International Conference on Simulation of Adaptive
Behaviors, pp. 356-363.
I. A. Wagner, M. Lindenbaum, A.
M. Bruckstein: "ANTS: Agents, Networks,
Trees, and Subgraphs" Future Generation Computer Systems
journal, Special issue on Ant Colony Optimization, North Holland, June
2000, Vol. 16 No. 8, pp. 915-926.
J. Borenstein, L. Feng:
"Measurement and Correction of Systematic Odometry Errors in
Mobile Robots." IEEE Journal of Robotics and Automation, Vol
12, No 6, December 1996, pp. 869-880. (and see http://www-personal.engin.umich.edu/~johannb/
R. Kurazume, S. Nagata: "Cooperative
Positioning with Multiple Robots" ICRA 1994, pp. 1250-1257.
T. Andou: "Andhill-98: A RoboCup
Team which Reinforces Positioning with Observation" RoboCup-98,
S. Khuller, E. Rivlin, A. Rosenfeld:
"Graphbots: Cooperative Motion Planning in Discrete Spaces"
IEEE T. on Systems. Man and Cybernetics-Part C, Vol. 28, No. 1, February
Efficient task allocation for
P. Gerkey and Maja J. Mataric, "Sold!: Auction Methods for Multirobot
Coordination", IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, VOL. 18, NO.
5, OCTOBER 2002.
2.Thomas Lemaire, Rachid Alami, Simon
Lacroix, "A Distributed Tasks Allocation Scheme in Multi-UAV
Context", Rapport LAAS No04741, 2004 International Conference on Robotics
and Automation (ICRA'2004), New Orleans (USA), April 26 -May 12004.
3.Robert Zlot and Anthony Stentz,
"Market-based Complex Task Allocation For Multirobot Teams",
Army Science Conference, 2004.