SLIDE 1
Autonomous Multi-robot Environmental Monitoring
An cooperative, interactive robotic team to survey an environment for a particular event
2/17
Using Boolean Networks for Consensus in Multi-Robot Environmental - - PowerPoint PPT Presentation
Using Boolean Networks for Consensus in Multi-Robot Environmental - - PowerPoint PPT Presentation
Using Boolean Networks for Consensus in Multi-Robot Environmental Monitoring Tasks Hanzhong Zheng, Janyl Jumadinova May 21, 2016 Autonomous Multi-robot Environmental Monitoring An cooperative, interactive robotic team to survey an environment
SLIDE 2
SLIDE 3
Autonomous Multi-robot Environmental Monitoring
An cooperative, interactive robotic team to survey an environment for a particular event Challenges of multi-robot systems:
◮ Large degree of complexity from movement coordination and
communication
◮ Incorrect sensor reading 2/17
SLIDE 4
Multi-robot System Applications
Manufacturing Landmine detection Search and Rescue
3/17
SLIDE 5
Particular Event Monitoring
Fire Rain Intruder
4/17
SLIDE 6
Challenges in Current Multi-robot Applications
◮ High dimensional environmental information 5/17
SLIDE 7
Challenges in Current Multi-robot Applications
◮ High dimensional environmental information ◮ Communications and task collaboration between robotic team
members
5/17
SLIDE 8
Challenges in Current Multi-robot Applications
◮ High dimensional environmental information ◮ Communications and task collaboration between robotic team
members
◮ Environmental data misinterpretation and aggregation 5/17
SLIDE 9
Boolean Networks in Multi-robot Environmental Monitoring:
◮ non-complex method of corroboration, ◮ while still retaining meaningful information 6/17
SLIDE 10
Boolean Networks (BNs)
◮ The state of the node is either ON (1) or OFF (0) ◮ The state of a node is updated according to a Boolean rule ◮ The Boolean rule determines state transitions of the nodes ◮ Can use BNs to explore the dynamics of the network or just
some relevant nodes
◮ BNs have been used to model various real networks: genetic
regulatory networks, strongly disordered systems common in physics and biology
7/17
SLIDE 11
Boolean Networks with 3 nodes
8/17
SLIDE 12
Boolean Networks using Robotic Team
9/17
SLIDE 13
System Flow Chart
10/17
SLIDE 14
p(t): ratio of nodes in the network with a 1 state to the total number of nodes rn(t): previous state of the node n sn(t): current state based on sensor input of the node n 11/17
SLIDE 15
Experiments
Experiment set up: 3 scenarios using 4 Turtlebot II
◮ Object remains still ◮ Object alternates its status once ◮ Object constantly alternates its status
Source: http://learn.turtlebot.com/2015/02/03/4/
12/17
SLIDE 16
Experiment Results
Accuracy Table
Testing Case Accuracy Scenario 1 98% Scenario 2 91% Scenario 3 85%
Table: Accuracy of the aggregated states from the physical experiments.
13/17
SLIDE 17
Simulations
14/17
SLIDE 18
Simulations
15/17
SLIDE 19
Summary
- 1. The Boolean network based on multi-robot environmental
monitoring system can produce significant information while maintaining high accuracy.
- 2. The mean-field approach based mathematical modeling used to
approximate the aggregated state in aggregation process.
- 3. We study the behaviors of the system with various model
parameters.
16/17
SLIDE 20
Future Work
◮ Conduct more experiments with robots. ◮ Statistical comparison of Boolean network with other commonly
used aggregation methods. jjumadinova@allegheny.edu http://cs.allegheny.edu/sites/jjumadinova
17/17