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Robotics
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Coordination of Robotic Systems
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Coordination of Robotic Systems

A special issue of Robotics (ISSN 2218-6581).

Deadline for manuscript submissions: closed (31 March 2015) | Viewed by 22179

Special Issue Editor

Dr. Wenjie Dong

E-Mail Website
Guest Editor
Department of Electrical Engineering University of Texas-Pan American Edinburg, TX 78539, USA
Interests: robot control; nonlinear system control; coordination of multiple agents

Special Issue Information

Dear Colleagues,

The coordination of multiple agents in a distributed manner has been extensively studied in recent decades. With regard to multiple robotic systems, various coordination problems have been studied and numerous approaches have been proposed. At this moment it is important to review past research work and look for new research directions in coordination of robotic systems. In this special issue, we invite papers that:

  1. summarize existing approaches for coordination of multiple robots;
  2. propose new coordination difficulties of multiple robotic systems and suggest approaches toward solutions; and
  3. are related to coordination of robotic systems.

Dr. Wenjie Dong
Guest Editor

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Robotics is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 1800 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.


Keywords

  • robots
  • coordination
  • cooperative control
  • formation control
  • flocking
  • distributed coodination

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Published Papers (3 papers)

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Research

967 KiB  
Article
A Spatial Queuing-Based Algorithm for Multi-Robot Task Allocation
by William Lenagh, Prithviraj Dasgupta and Angelica Munoz-Melendez
Robotics 2015, 4(3), 316-340; https://doi.org/10.3390/robotics4030316 - 28 Aug 2015
Cited by 9 | Viewed by 7331
Abstract
Multi-robot task allocation (MRTA) is an important area of research in autonomous multi-robot systems. The main problem in MRTA is to allocate a set of tasks to a set of robots so that the tasks can be completed by the robots while ensuring [...] Read more.
Multi-robot task allocation (MRTA) is an important area of research in autonomous multi-robot systems. The main problem in MRTA is to allocate a set of tasks to a set of robots so that the tasks can be completed by the robots while ensuring that a certain metric, such as the time required to complete all tasks, or the distance traveled, or the energy expended by the robots is reduced. We consider a scenario where tasks can appear dynamically and a task needs to be performed by multiple robots to be completed. We propose a new algorithm called SQ-MRTA (Spatial Queueing-MRTA) that uses a spatial queue-based model to allocate tasks between robots in a distributed manner. We have implemented the SQ-MRTA algorithm on accurately simulated models of Corobot robots within the Webots simulator for different numbers of robots and tasks and compared its performance with other state-of-the-art MRTA algorithms. Our results show that the SQ-MRTA algorithm is able to scale up with the number of tasks and robots in the environment, and it either outperforms or performs comparably with respect to other distributed MRTA algorithms. Full article
(This article belongs to the Special Issue Coordination of Robotic Systems)
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2829 KiB  
Article
Vision-Based Cooperative Pose Estimation for Localization in Multi-Robot Systems Equipped with RGB-D Cameras
by Xiaoqin Wang, Y. Ahmet Şekercioğlu and Tom Drummond
Robotics 2015, 4(1), 1-22; https://doi.org/10.3390/robotics4010001 - 26 Dec 2014
Cited by 15 | Viewed by 8627
Abstract
We present a new vision based cooperative pose estimation scheme for systems of mobile robots equipped with RGB-D cameras. We first model a multi-robot system as an edge-weighted graph. Then, based on this model, and by using the real-time color and depth data, [...] Read more.
We present a new vision based cooperative pose estimation scheme for systems of mobile robots equipped with RGB-D cameras. We first model a multi-robot system as an edge-weighted graph. Then, based on this model, and by using the real-time color and depth data, the robots with shared field-of-views estimate their relative poses in pairwise. The system does not need the existence of a single common view shared by all robots, and it works in 3D scenes without any specific calibration pattern or landmark. The proposed scheme distributes working loads evenly in the system, hence it is scalable and the computing power of the participating robots is efficiently used. The performance and robustness were analyzed both on synthetic and experimental data in different environments over a range of system configurations with varying number of robots and poses. Full article
(This article belongs to the Special Issue Coordination of Robotic Systems)
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563 KiB  
Article
The Role of Visibility in Pursuit/Evasion Games
by Athanasios Kehagias, Dieter Mitsche and Paweł Prałat
Robotics 2014, 3(4), 371-399; https://doi.org/10.3390/robotics3040371 - 8 Dec 2014
Cited by 12 | Viewed by 5533
Abstract
The cops-and-robber (CR) game has been used in mobile robotics as a discretized model (played on a graph G) of pursuit/evasion problems. The “classic” CR version is a perfect information game: the cops’ (pursuer’s) location is always known to the robber (evader) [...] Read more.
The cops-and-robber (CR) game has been used in mobile robotics as a discretized model (played on a graph G) of pursuit/evasion problems. The “classic” CR version is a perfect information game: the cops’ (pursuer’s) location is always known to the robber (evader) and vice versa. Many variants of the classic game can be defined: the robber can be invisible and also the robber can be either adversarial (tries to avoid capture) or drunk (performs a random walk). Furthermore, the cops and robber can reside in either nodes or edges of G. Several of these variants are relevant as models or robotic pursuit/evasion. In this paper, we first define carefully several of the variants mentioned above and related quantities such as the cop number and the capture time. Then we introduce and study the cost of visibility (COV), a quantitative measure of the increase in difficulty (from the cops’ point of view) when the robber is invisible. In addition to our theoretical results, we present algorithms which can be used to compute capture times and COV of graphs which are analytically intractable. Finally, we present the results of applying these algorithms to the numerical computation of COV. Full article
(This article belongs to the Special Issue Coordination of Robotic Systems)
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