Study Group
Multi-Vehicle Control and Communication

• Time: 9:30-11:30 am, Fridays.
• Members:
• 王立昇老師, (wangli@iam.ntu.edu.tw), 3366-5686
• 連豊力老師, (fengli@ntu.edu.tw), 2363-5251 x 537
• 李明威, (r90543014@ms90.ntu.edu.tw), 3366-5685
• 邱進忠, (r91543032@ntu.edu.tw), 3366-5685
• 林秉立, (murcielago842@yahoo.com.tw), 3366-5685
• 杜原忠, (r91921047@ntu.edu.tw), 2363-5251 x 255
• 林書賢, (r91921053@ntu.edu.tw), 2363-5251 x 255
• Notes:
  1. 03/07/03 (PDF 6-in-one); (PDF 2-in-one)
• Schedule:
  • ---------------- NEXT ----------------
  • 06/06/03: No seminar, Lian at ACC03, Denver, CO, USA
  • 06/13/03: 8. Distributed Multirobot Localization (Tu, EE)
  • 06/2?/03: Summary and discussion for the summer
  • 03/21/03: 1. Vision-Based Formation Control (Lian)
  • 04/11/03: 2. CS Freidburg (Lin, EE)
  • 04/18/03: 3. Local Sensing and Minimal Communication (Lee)
  • 04/25/03: 4. Cooperative Transport (Tu)
  • 05/02/03: 5. Control Lyapunov Function (Chiu)
  • 05/09/03: 6. CyberScout (Lin, IAM)
  • 05/23/03: X. Formation Using Shape Coord. (Wang, IAM)
  • 05/30/03: 7. Cooperative Probabilistic State Estimation (Lin, EE)
• Reading:
• IEEE Robobics and Automation, special issue in Mulit-robot Systems (V18, N5, Oct02)
• Guest Editorial (PDF, 7 pages)
1. A Vision-Based Formation Control Framework (PDF, 13 pages)
   Aveek K. Das, Rafael Fierro, and Vijay Kumar
2. CS Freiburg: Coordinating Robots for Successful Soccer Playing (PDF, 15 pages)
   Thilo Weigel, Jens-Steffen Gutmann, Markus Dietl, Alexander Kleiner, and Bernhard Nebel
3. A General Algorithm for Robot Formations
   Using Local Sensing and Minimal Communication (PDF, 10 pages)
   Jakob Fredslund and Maja J. Mataric
4. Cooperative Transport by Multiple Mobile Robots
   in Unknown Static Environments Associated With Real-Time Task Assignment (PDF, 12 pages)
   Natsuki Miyata, Jun Ota, Tamio Arai, and Hajime Asama
5. A Control Lyapunov Function Approach to Multiagent Coordination (PDF, 5 pages)
   Petter Ogren, Magnus Egerstedt, and Xiaoming Hu
6. Distributed Surveillance and Reconnaissance
   Using Multiple Autonomous ATVs: CyberScout (PDF, 11 pages)
   Mahesh Saptharishi, C. Spence Oliver, Christopher P. Diehl, Kiran S. Bhat,
   John M. Dolan, Ashitey Trebi-Ollennu, and Pradeep K. Khosla
7. Cooperative Probabilistic State Estimation
   for Vision-Based Autonomous Mobile Robots (PDF, 15 pages)
   Thorsten Schmitt, Robert Hanek, Michael Beetz, Sebastian Buck, and Bernd Radig
8. Distributed Multirobot Localization (PDF, 15 pages)
   Stergios I. Roumeliotis, and George A. Bekey
9. Probabilistic Pursuit–Evasion Games:
   Theory, Implementation, and Experimental Evaluation (PDF, 8 pages)
   Rene Vidal, Omid Shakernia, H. Jin Kim, David Hyunchul Shim, and Shankar Sastry
10. Hormone-Inspired Adaptive Communication and Distributed Control
    for CONRO Self-Reconfigurable Robots (PDF, 13 pages)
    Wei-Min Shen, Behnam Salemi, and Peter Will
11. Performance of a Distributed Robotic System
    Using Shared Communications Channels (PDF, 15 pages)
    Paul E. Rybski, Sascha A. Stoeter, Maria Gini, Dean F. Hougen, and Nikolaos P. Papanikolopoulos
12. Human-Supervised Multiple Mobile Robot System (PDF, 16 pages)
    RAkio Nakamura, Jun Ota, and Tamio Arai
13. Emotion-Based Control of Cooperating Heterogeneous Mobile Robots (PDF, 14 pages)
    RRobin Roberson Murphy, Christine Laetitia Lisetti, Russell Tardif, Liam Irish, and Aaron Gage
14. Sold!: Auction Methods for Multirobot Coordination (PDF, 11 pages)
    Brian P. Gerkey and Maja J. Mataric
15. LOST: Localization-Space Trails for Robot Teams (PDF, 17 pages)
    Richard T. Vaughan, Kasper Stoy, Gaurav S. Sukhatme, and Maja J. Mataric
16. Decentralized Control of Cooperative Robotic Vehicles:
    Theory and Application (PDF, 13 pages)
    John T. Feddema, Chris Lewis, and David A. Schoenwald
17. X. Control of Small Formations Using Shape Coordinates (6 pages)
    Fumin Zhang, Michael Goldgeier and P. S. Krishnaprasad
    ICRA 2003

Past Events

• Past Notes:
  1. 11/01/02 (PDF)
  2. 10/25/02 (PDF)
• Past Schedule:
  • ----------------- 10/18/02 -> 03/07/03 -----------------
  • 10/18/02: Path planning & Screen Remote Control (Lee)
  • 10/25/02: Nonlinear Trajectory Generation (Lian)
  • 11/01/02: SP & Auction Algo. (Lee)
  • 11/08/02: Curve fitting & representation (Tu)
  • 12/06/02: 1. Model Predictive Control (Lian)
    Ref: [2], Cremean, et al., "Caltech Testbed"
    Ref: [4], Egerstedt, Hu, "Formation Multi-Agent"
    Ref: [7], Mayne, et al., "Constrained MPC"
    Ref: [x], Desai, Ostrowski, Kumar, "Formation of Nonholonomic"
    
  • 12/20/02: 2. Motion Control (Lin)
  • 12/27/02: 3. Decentralized Approach (Lee)
  • 02/21/03: 4. Ant System (Tu)
  • 03/07/03: 5. Control Scheme (Wang)
• Past Reading:
• --------------- 10/18/02 -> 03/07/03 ---------------
1. Model predictive control of coordinated multi-vehicle formations (PDF, 6 pages)
   William B. Dunbary, Richard M. Murray
   CDC 2002
2. Motion control in dynamic multi-robot environment (PDF, 6 pages)
   Michael Bowling and Manuela Veloso.
   1999 IEEE International Symposium on Computational Intelligence
   in Robotics and Automation, pages 168--173, Monterey, CA, November 1999
3. A Decentralized Approach To Formation Maneuvers (PDF, 32 pages)
   Jonathan Lawton, Randal Beard, Brett Young
   to appear in IEEE Transactions on Robotics and Automation
4. Applying the Ant System to the Vehicle Routing Problem (PDF, 12 pages)
   Bullnheimer B., R.F. Hartl and C. Strauss
   The 2nd Metaheuristic International Conference, Sophia-Antipolis, France.
5. A control scheme for improving multi-vehicle (PDF, 7 pages)
   B. J. Young, R. W. Beard, and J. M. Kelsey.
   American Control Conference, 2001.
6. Cooperative localization and control for multi-robot manipulation (PDF, 8 pages)
   J. Spletzer, A.K. Das, R. Fierro, C.J. Taylor, V. Kumar, and J.P. Ostrowsk
   submitted to IROS 2001, Hawaii, USA Dec 2001.
7. Multiple vehicle routing with time windows using genetic algorithms (PDF, 10 pages)
   Sushil J. Louis, Xiangying Yin, and Zhen Ya Yuan
   1999 Congress on Evolutionary Computation, pp. 1804--1808
8. A framework for scalable cooperative navigation of autonomous vehicles (PDF, 20 pages)
   R. Fierro, P. Song, A. Das, and V. Kumar
   Technical Report MS-CIS-01-09,
   Department of Computer and Information Science
   University of Pennsylvania, March 2001.
9. A framework and architecture for multirobot coordination (PDF, 11 pages)
   R. Alur, A. Das, J. Esposito, R. Fierro, Y. Hur, G. Grudic, V. Kumar,
   I. Lee, J. P. Ostrowski, G. J. Pappas, J. Southall, J. Spletzer, and C. Taylor.
   Submitted to the International Journal of Robotics Research, June 2001
   Experimental Robotics VII, Lecture Notes in Control and Information Sciences, volume 271, 2001
10. Fast, Cheap and Out of Control: A Robot Invasion of the Solar Systems (PDF, 9 pages)
    Brooks, R. A. and A. M. Flynn,
    Journal of the British Interplanetary Society,
    October 1989, pp. 478--485.
    This paper discusses Reactive Control and Brook's Subsumption Architecture.
11. Coordination in Vehicle Routing (PDF, 10 pages)
    Catherine Rivers,
    Mathematics, Massey University, New Zealand
12. Probabilistic Roadmaps for path planning in high-dimensional configuration spaces (PDF, 37 pages)
    L. Kavraki, P. Svestka,-M. Overmars
    UU-CS-1994-32, August 1994
13. Coordinated path planning for multiple robots (PDF, 29 pages)
    P. Svestka, M.H. Overmars
    Dept. of Computer Science, Utrecht University
14. A Market Approach to Multirobot Coordination (PDF, 43 pages)
    M.B. Dias and A. Stentz
    tech. report CMU-RI -TR-01-26,
    Robotics Institute, Carnegie Mellon University, August, 2001.