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.
FREVO: A Tool for Evolving and Evaluating Self-organizing Systems
Publications on self-organizing networked systems
11 years ago
FREVO: A Tool for Evolving and Evaluating Self-organizing Systems
Typically, self-organizing systems comprise of a large number of individual agents whose behavior needs to be controlled by set parameters so that their interactions lead to the creation of the desired system. To be self-organizing, the system must mimic the evolutionary process. One way to do this is by use of an evolutionary algorithm. This mimics naturally-occurring genetic variation (mutation and recombination of genes). To fulfill this purpose, we have created a tool named FREVO (FRamework for EVOlutionary design), which separates the input needed into the following components: target problem evaluation, controller repre- sentation and the optimization method. FREVO provides well-defined interfaces for these components and supports a graphical user interface to simulate the evolutionary process. After obtaining the outcome for a simulation, it is possible to validate and evaluate the results within FREVO. FREVO has been successfully applied to various problems, from cooperative robotics to economics, pattern generation and wireless sensor networks. In this paper, we give an overview of the architecture of FREVO and introduce a case study involving smart grid networks.
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.