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Distributed Algorithms for
Multi-Robot Observation of
Multiple Moving Targets
Lynne E. ParkerAutonomous Robots, 2002
Yousuf AhmadDistributed Information Systems Lab
School of Computer Science
COMP765: Mobile Robotics
Winter 2011
Outline
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
1. Introduction2. Problem Description3. Related Work4. Approach5. Experiments6. Conclusion
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Outline
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
1. Introduction2. Problem Description3. Related Work4. Approach5. Experiments6. Conclusion
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1. Introduction
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
Tracking a moving target Multiple targets Multiple observers
Mobile observers
Sensor placement Coverage Cooperation Real-time
Applications Surveillance Search & Rescue
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Outline
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
1. Introduction2. Problem Description3. Related Work4. Approach5. Experiments6. Conclusion
5/42
2. Problem Description (1/5)
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
Cooperative Multi-Robot Observation of Multiple Moving Targets (CMOMMT)
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2. Problem Description (1/5)
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
Cooperative Multi-Robot Observation of Multiple Moving Targets (CMOMMT)
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2. Problem Description (1/5)
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
Cooperative Multi-Robot Observation of Multiple Moving Targets (CMOMMT)
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2. Problem Description (2/5)
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
Cooperative Multi-Robot Observation of Multiple Moving Targets (CMOMMT)
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2. Problem Description (3/5)
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
Cooperative Multi-Robot Observation of Multiple Moving Targets (CMOMMT)
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2. Problem Description (3/5)
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
Cooperative Multi-Robot Observation of Multiple Moving Targets (CMOMMT)
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2. Problem Description (4/5)
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
Cooperative Multi-Robot Observation of Multiple Moving Targets (CMOMMT)
Goal: Maximize average num of targets observed by at least one robot
throughout a mission of total duration T.
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2. Problem Description (5/5)
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
Cooperative Multi-Robot Observation of Multiple Moving Targets (CMOMMT)
Robots employ limited-range broadcast communication Robots can move faster than targets Robots move within a shared global coordinate system
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Outline
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
1. Introduction2. Problem Description3. Related Work4. Approach5. Experiments6. Conclusion
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3. Related Work
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
Mostly centralized algorithms Complex environments Computationally expensive Do not scale well Off-line
Single vs. multiple targets/observers Trajectory analysis
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Outline
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
1. Introduction2. Problem Description3. Related Work4. Approach5. Experiments6. Conclusion
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4. Approach (1/5)
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
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4. Approach (2/5)
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
No centralized control Collective autonomy Behavioral motivations Broadcast communication
Adaptive & fault-tolerant Robot failures Mission/team changes Communication failures/noise
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4. Approach (3/5)
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
Sensing Robots, targets, obstacles Limited-range Cooperative
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4. Approach (3/5)
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
Sensing Robots, targets, obstacles Limited-range Cooperative
Global positioning system
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4. Approach (4/5)
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
Force vectors Local
Weighted Reduce overlap
Summed
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4. Approach (5/5)
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
Force vectors
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4. Approach (5/5)
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
Force vectors
Initialization
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Outline
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
1. Introduction2. Problem Description3. Related Work4. Approach5. Experiments6. Conclusion
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5. Experiments (1/15)
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
Platform1. Simulation2. Physical
Robot control1. A-CMOMMT weighted force vectors2. Local non-weighted3. Random4. Fixed
Target control1. Random/linear2. Evasive simulation only
Obstacles25/42
5. Experiments (2/15)
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
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5. Experiments (3/15)
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
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5. Experiments (4/15)
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
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5. Experiments (5/15)
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
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5. Experiments (6/15)
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
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5. Experiments (7/15)
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
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5. Experiments (8/15)
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
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5. Experiments (9/15)
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
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5. Experiments (10/15)
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
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5. Experiments (11/15)
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
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5. Experiments (12/15)
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
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5. Experiments (13/15)
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
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5. Experiments (14/15)
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
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5. Experiments (15/15)
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
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Outline
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
1. Introduction2. Problem Description3. Related Work4. Approach5. Experiments6. Conclusion
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6. Conclusion
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
Cooperative multi-robot observation of multiple moving targets
Distributed approach Weighted local force vectors
Comparison Weighted vs. non-weighted Heuristic vs. random vs. fixed Random/linear vs. evasive
Other interesting approaches Multi-robot learning
Other interesting applications Border security AQUA team
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Thank you!
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002]
COMP765: Mobile Robotics [Winter 2011]
Questions?
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