Book
Robot teams : from diversity to polymorphism
Published by A K Peters, Natick, Mass.
ISBN 1568811551
Bib Id 386820
Copyright 2002
Description x, 425 p. : ill. ; 24 cm.
More Details
Leader
cam a22 4a 4500
LCCN
2001-38743
ISBN
1568811551 (hbk.) : $49.00
Call #
629.892 R
Title
Robot teams : from diversity to polymorphism
Copyright Date
2002
Description
x, 425 p. : ill. ; 24 cm.
Bibliography
Includes bibliographical references (p. 381-425) and index.
Contents
Theoretical Foundations -- A Taxonomy of Multirobot Systems -- Why a Taxonomy Is Important -- Dimensions of Robot Collective Taxonomies -- A Taxonomy of Robot Collectives -- The Power of Robot Collectives: Case Studies -- Taxonomies of Multirobot Task and Reward -- Task Impacts Multirobot Performance -- The Difference Between Task and Reward -- A Taxonomy of Multirobot Tasks -- Classification of Example Tasks -- A Taxonomy of Multirobot Reward -- A Survey of Multiagent and Multirobot Systems -- MAS and DAI -- Multiagent Systems -- Organization of Existing Work -- Homogeneous Non-Communicating Multiagent Systems -- Heterogeneous Non-Communicating Multiagent Systems -- Homogeneous Communicating Multiagent Systems -- Heterogeneous Communicating Multiagent Systems -- Robotic Soccer -- Measuring Robot Group Diversity -- Measuring Diversity Enables New Research -- The Meaning of Diversity -- Simple Social Entropy -- Limitations of Simple Social Entropy -- Classification and Clustering.
Theoretical Foundations -- A Taxonomy of Multirobot Systems -- Why a Taxonomy Is Important -- Dimensions of Robot Collective Taxonomies -- A Taxonomy of Robot Collectives -- The Power of Robot Collectives: Case Studies -- Taxonomies of Multirobot Task and Reward -- Task Impacts Multirobot Performance -- The Difference Between Task and Reward -- A Taxonomy of Multirobot Tasks -- Classification of Example Tasks -- A Taxonomy of Multirobot Reward -- A Survey of Multiagent and Multirobot Systems -- MAS and DAI -- Multiagent Systems -- Organization of Existing Work -- Homogeneous Non-Communicating Multiagent Systems -- Heterogeneous Non-Communicating Multiagent Systems -- Homogeneous Communicating Multiagent Systems -- Heterogeneous Communicating Multiagent Systems -- Robotic Soccer -- Measuring Robot Group Diversity -- Measuring Diversity Enables New Research -- The Meaning of Diversity -- Simple Social Entropy -- Limitations of Simple Social Entropy -- Classification and Clustering. Hierarchic Social Entropy -- Behavioral Difference -- Simple Social Entropy in Simulated Soccer -- Hierarchic Social Entropy in Multirobot Foraging -- Enabling Technologies -- A Polymorphic Robot Team -- Advantages of Polymorphism for Robot Teams -- CONRO: A Polymorphic Robot -- Design of the CONRO modules -- Experimental Prototypes -- The CONRO Modules and Robots -- Collaborative Multirobot Localization -- Probabilistic Robot Localization -- Multirobot Localization -- Sampling and Monte Carlo Localization -- Probabilistic Detection Model -- Experimental Results -- Related Work -- Techniques for Learning in Multirobot Teams -- Multirobot Learning -- Learning New Cooperative Behaviors -- Learning for Parameter Adjustment -- Symbol Grounding for Communication -- Shared Grounding Enables Symbolic Communication -- Cooperation and Communication -- The System -- A Critical Examination -- Marsupial Robots -- Motivation for Marsupialism -- Heterogeneity in Marsupial Teams -- Roles and Core Behaviors -- Docking.
Theoretical Foundations -- A Taxonomy of Multirobot Systems -- Why a Taxonomy Is Important -- Dimensions of Robot Collective Taxonomies -- A Taxonomy of Robot Collectives -- The Power of Robot Collectives: Case Studies -- Taxonomies of Multirobot Task and Reward -- Task Impacts Multirobot Performance -- The Difference Between Task and Reward -- A Taxonomy of Multirobot Tasks -- Classification of Example Tasks -- A Taxonomy of Multirobot Reward -- A Survey of Multiagent and Multirobot Systems -- MAS and DAI -- Multiagent Systems -- Organization of Existing Work -- Homogeneous Non-Communicating Multiagent Systems -- Heterogeneous Non-Communicating Multiagent Systems -- Homogeneous Communicating Multiagent Systems -- Heterogeneous Communicating Multiagent Systems -- Robotic Soccer -- Measuring Robot Group Diversity -- Measuring Diversity Enables New Research -- The Meaning of Diversity -- Simple Social Entropy -- Limitations of Simple Social Entropy -- Classification and Clustering. Hierarchic Social Entropy -- Behavioral Difference -- Simple Social Entropy in Simulated Soccer -- Hierarchic Social Entropy in Multirobot Foraging -- Enabling Technologies -- A Polymorphic Robot Team -- Advantages of Polymorphism for Robot Teams -- CONRO: A Polymorphic Robot -- Design of the CONRO modules -- Experimental Prototypes -- The CONRO Modules and Robots -- Collaborative Multirobot Localization -- Probabilistic Robot Localization -- Multirobot Localization -- Sampling and Monte Carlo Localization -- Probabilistic Detection Model -- Experimental Results -- Related Work -- Techniques for Learning in Multirobot Teams -- Multirobot Learning -- Learning New Cooperative Behaviors -- Learning for Parameter Adjustment -- Symbol Grounding for Communication -- Shared Grounding Enables Symbolic Communication -- Cooperation and Communication -- The System -- A Critical Examination -- Marsupial Robots -- Motivation for Marsupialism -- Heterogeneity in Marsupial Teams -- Roles and Core Behaviors -- Docking. Marsupials in the Field -- Robot Team Case Studies -- Heterogeneous Teams of Modular Robots for Mapping and Exploration -- Heterogeneous Robot Teams -- The Millibots -- Specialization and Collaboration -- Collaboration -- Mapping and Exploration -- Results -- Design and Evaluation of Robust Behavior-Based Controllers -- Requirements for Robust Robot Teams -- Research in Foraging -- The Collection Task -- The Homogeneous Controller -- Spatio-Temporal Interactions -- The Pack Controller -- The Caste Controller -- Analysis -- Experiments with Cooperative Aerial-Ground Robots -- Heterogeneous Teams for Surveillance and Reconnaissance -- Subsystems -- Control and Coordination Algorithms -- Coordination of Heterogeneous Robots for Large-Scale Assembly -- When Coordination is Required -- Layered Architecture -- Related Approaches -- Testbed -- Distributed Coordination -- Distributed Visual Servoing.
Summary
This reference on multi-robot systems explains the essentials of multi-agent robotics theory and describes particular systems illustrating the major concepts of multi-robot research. Each chapter represents a key concept or design approach which has advanced the field of robotic research and development, especially in the area of cooperation among robots. Descriptions are augmented with mathematical formulations, photographs, diagrams, and source code. Balch teaches at Georgia Tech University; Parker is affiliated with the Oak Ridge National Laboratory. Annotation copyrighted by Book News, Inc., Portland, OR.
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