CMPE 58U Sp.Top.In CMPE:Multi-Robot Systems (Fall 2009)

Topics:

• Taxonomies of Multi Robot Systems

• Gregory Dudek, Michael R. M. Jenkin, Evangelos Milios, David Wilkes,  "A Taxonomy for Multi-Agent Robotics", Autonomous Robots, Volume 3, Number 4 / December, 1996.

• Presenter: Serhan, Discussant: Tekin
  

• Y. Uny Cao, Alex S. Fukunaga, Andrew B. Kahng,"Cooperative Mobile Robotics: Antecedents and Directions", Autonomous Robots, 4, 1–23 (1997).

• Presenter: Can, Discussant: Baris G.
  
• Lynne E Parker, "Distributed Intelligence: Overview of the Field and its Application in Multi-robot Systems", Journal of Physical Agents, Vol 2, No 1 (2008).
• Presenter: Baris K., Discussant: Ergin
  
• Task Allocation
• Brian P. Gerkey, Maja J. Mataric, "A Formal Analysis and Taxonomy of Task Allocation in Multi-Robot Systems",  The International Journal of Robotics Research, Vol. 23, No. 9. (, pp. 939-954, 2004.
• Presenter: Ergin, Discussant: Can
• Learning

• L. Busoniu, R: Babuska, and B. De Schutter, "A Comprehensive Survey of Multiagent Reinforcement Learning," IEEE Transactions on Systems, Man, and Cybernetics, Part C 38(2): 156-172 (2008)
• Presenter: Tekin, Discussant: Mehmet

• Control;
• Danica Kragic and Henrik I Christensen, "Survey on Visual Servoing for Manipulation 
• Presenter: Baris G., Discussant: Serhan
  

• Cyber-physical systems
• Edward A. Lee. "Cyber Physical Systems: Design Challenges". International Symposium on Object/Component/Service-Oriented Real-Time Distributed Computing (ISORC), May, 2008.
• Presenter: Mehmet, Discussant: Can
  

• Planning
• Settembre, G.P. and Scerri, P. and Farinelli, A. and Sycara, K. and Nardi, D., "A decentralized approach to cooperative situation assessment in multi-robot systems," Proceedings of the 7th international joint conference on Autonomous agents and multiagent systems-Volume 1, pp.31-38,2008.
• Presenter: Ergin
• Sensors and perception;
• Biological Inspirations
• Planning;
• Navigation and path planning;
• Localization and SLAM;
• Communication
• Behavior Recognition/Opponent Modeling

Reference Material:

Books

• S. Thrun, W. Burgard and D. Fox, Probabilistic Robotics, MIT Press, 2005.
• H. Choset, K. M. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. E. Kavraki, and S. Thrun, Principles of Robot Motion: Theory, Algorithms, and Implementations, MIT Press, 2005.
  
• R.Murphy, An Introduction to AI Robotics, MIT Press, 2000.
• R. Arkin, Behavior Based Robotics, MIT Press, 1998.
• J. Borenstein, H. R. Everett, and L. Feng, Where am I?" --Systems and Methods for Mobile Robot Positioning, 1996
• David Kortenkamp, R. Peter Bonasso, and Robin Murphy (eds.), Artificial Intelligence and Mobile Robots, MIT Press,1998.

 

Papers

• Brooks, R. A. "A Robust Layered Control System for a Mobile Robot,"  IEEE Journal of Robotics and Automation, Vol. 2, No. 1, March 1986, pp. 14--23; also MIT AI Memo 864, September 1985.
• Brooks, R. A., "Intelligence Without Representation,"  Artificial Intelligence Journal (47), 1991, pp. 139--159.
• Brooks, R.A. and L.A. Stein, "Building Brains for Bodies," Autonomous Robots, Vol. 1, No. 1, November 1994, pp. 7--25.
• Brooks, R.A., C. Breazeal (Ferrell), R. Irie, C. Kemp, M. Marjanovic, B. Scassellat and M. Williamson, "Alternate Essences of Intelligence," AAAI-98.
• A. Saffiotti, The Uses of Fuzzy Logic in Autonomous Robot Navigation
• Paolo Pirjanian, "Behavior Coordination Mechanisms - State-of-the-art"
• Maja J Mataric, "Behavior-Based Robotics as a Tool for Synthesis of Artificial Behavior and Analysis of Natural Behavior", Trends in Cognitive Science, 2(3), Mar 1998, 82-87.

Tutorials

• A Survey of Cognitive and Agent Architectures
• S. B. Skaar, Vision Based Robotics Using Estimation, 1994.
• S.  Thrun, Probabilistic Robotics Tutorial AAAI-2000
• A. Mukerjee and D: Hernández ,Tutorial on ``Representation of Spatial Knowledge'', 1995.
• A. Saffiotti, Fuzzy logic techniques for autonomous vehicle navigation

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Course Requirements:

• In class presentations (20%)
• Project (60 %)
• Final Exam (20%)

TERM PROJECT

• Project Description

• Cerberus Team Home Page
  

Robots and Robot Kits

• Nao

Simulators

• Webots
• Player/Stage

Useful Information

• B-Human Code and Report
• Peter Stone, Michael Quinlan, and Todd Hester. The Essence of Soccer: Can Robots Play Too?. In Soccer and Philosophy, Popular Culture and Philosophy, Open Court Publishing Company, 2010. To appear.
  

Related Web Pages

Agents

• UMBC AgentWeb

Robotics

• Bogaziçi Üniversitesi Robot Sitesi (in Turkish)
• BU AI Lab Robotics Seminars
• AAAI Robot Resources
• Special Report on Robotics
  
• RoboCup
• Get a Grip on Robotics
• IEEE Robotics and Automation Magazine
  

AI

• AI Resources
  
• AI on the WWW
• The World-Wide Web Virtual Library: Systems and Control Engineering
• AI, Cognitive Science and Robotics WWW Resource

History of Robotics

• Automaton
  
• Cezeri's Automata
• The Turk or Automaton Chess Player

Fun

• CYBORG Name Generator

Search Tools

• Research Index
• Google Scholar