Abstract—We present and evaluate new ROS packages for
coordinated multi-robot exploration, namely communication,
global map construction, and exploration. The packages allow
completely distributed control and do not rely on (but allow)
central controllers. Their integration including application layer
protocols allows out of the box installation and execution. The
communication package enables reliable ad hoc communication
allowing to exchange local maps between robots which are
merged to a global map. Exploration uses the global map
to spatially spread robots and decrease exploration time. The
intention of the implementation is to offer basic functionality for
coordinated multi-robot systems and to enable other research
groups to experimentally work on multi-robot systems. The
packages are tested in real-world experiments using Turtlebot
and Pioneer robots. Further, we analyze their performance using
simulations and verify their correct working.
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Abstract—We present and evaluate new ROS packages for
coordinated multi-robot exploration, namely communication,
global map construction, and exploration. The packages allow
completely distributed control and do not rely on (but allow)
central controllers. Their integration including application layer
protocols allows out of the box installation and execution. The
communication package enables reliable ad hoc communication
allowing to exchange local maps between robots which are
merged to a global map. Exploration uses the global map
to spatially spread robots and decrease exploration time. The
intention of the implementation is to offer basic functionality for
coordinated multi-robot systems and to enable other research
groups to experimentally work on multi-robot systems. The
packages are tested in real-world experiments using Turtlebot
and Pioneer robots. Further, we analyze their performance using
simulations and verify their correct working.
EvoNILM - Evolutionary Appliance Detection for MiscellaneousHousehold Appliances
Publications on self-organizing networked systems
11 years ago
EvoNILM - Evolutionary Appliance Detection for MiscellaneousHousehold Appliances
To improve the energy awareness of consumers, it is necessary to provide them with information about their en- ergy demand, not just on the household level. Non-intrusive load monitoring (NILM) gives the consumer the opportunity to disaggregate their consumed power on the appliance level. The consumer is provided with information about the energy de- mand of each individual appliances. In this paper we present an evolutionary optimization algorithm, applicable to NILM purposes. It can be used to detect appliances with a prob- abilistic power demand model. We show that the detection performance of the evolutionary algorithm can be improved if the single population approach of the evolutionary algorithm is replaced by a parallel population approach with individual exchange and by the introduction of application-oriented pre- processing and mutation methods. The proposed algorithm is tested with Matlab simulations and is evaluated according to the fitness reached and detection probability of the algorithm.
Publications on self-organizing networked systems
Abstract—We present and evaluate new ROS packages for
coordinated multi-robot exploration, namely communication,
global map construction, and exploration. The packages allow
completely distributed control and do not rely on (but allow)
central controllers. Their integration including application layer
protocols allows out of the box installation and execution. The
communication package enables reliable ad hoc communication
allowing to exchange local maps between robots which are
merged to a global map. Exploration uses the global map
to spatially spread robots and decrease exploration time. The
intention of the implementation is to offer basic functionality for
coordinated multi-robot systems and to enable other research
groups to experimentally work on multi-robot systems. The
packages are tested in real-world experiments using Turtlebot
and Pioneer robots. Further, we analyze their performance using
simulations and verify their correct working.