1. Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets Lynne E. Parker Autonomous Robots, 2002 Yousuf Ahmad Distributed Information Systems Lab School of Computer Science COMP765: Mobile Robotics Winter 2011

2. Outline Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011] 1. Introduction 2. Problem Description 3. Related Work 4. Approach 5. Experiments 6. Conclusion 2/42

3. Outline Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011] 1. Introduction 2. Problem Description 3. Related Work 4. Approach 5. Experiments 6. Conclusion 3/42

4. 1. Introduction Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]  Tracking a moving target  Multiple targets  Multiple observers  Mobile observers  Sensor placement  Coverage  Cooperation  Real-time  Applications  Surveillance  Search & Rescue 4/42

5. Outline Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011] 1. Introduction 2. Problem Description 3. Related Work 4. Approach 5. Experiments 6. Conclusion 5/42

6. 2. Problem Description (1/5) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]  Cooperative Multi-Robot Observation of Multiple Moving Targets (CMOMMT) 6/42

7. 2. Problem Description (1/5) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]  Cooperative Multi-Robot Observation of Multiple Moving Targets (CMOMMT) 7/42

8. 2. Problem Description (1/5) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]  Cooperative Multi-Robot Observation of Multiple Moving Targets (CMOMMT) 8/42

9. 2. Problem Description (2/5) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]  Cooperative Multi-Robot Observation of Multiple Moving Targets (CMOMMT) 9/42

10. 2. Problem Description (3/5) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]  Cooperative Multi-Robot Observation of Multiple Moving Targets (CMOMMT) 10/42

11. 2. Problem Description (3/5) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]  Cooperative Multi-Robot Observation of Multiple Moving Targets (CMOMMT) 11/42

12. 2. Problem Description (4/5) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]  Cooperative Multi-Robot Observation of Multiple Moving Targets (CMOMMT)  Goal: Maximize average num of targets observed by at least one robot throughout a mission of total duration T. 12/42

13. 2. Problem Description (5/5) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]  Cooperative Multi-Robot Observation of Multiple Moving Targets (CMOMMT)  Robots employ limited-range broadcast communication  Robots can move faster than targets  Robots move within a shared global coordinate system 13/42

14. Outline Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011] 1. Introduction 2. Problem Description 3. Related Work 4. Approach 5. Experiments 6. Conclusion 14/42

15. 3. Related Work Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]  Mostly centralized algorithms  Complex environments  Computationally expensive  Do not scale well  Off-line  Single vs. multiple targets/observers  Trajectory analysis 15/42

16. Outline Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011] 1. Introduction 2. Problem Description 3. Related Work 4. Approach 5. Experiments 6. Conclusion 16/42

17. 4. Approach (1/5) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011] 17/42

18. 4. Approach (2/5) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]  No centralized control  Collective autonomy  Behavioral motivations  Broadcast communication  Adaptive & fault-tolerant  Robot failures  Mission/team changes  Communication failures/noise 18/42

19. 4. Approach (3/5) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]  Sensing  Robots, targets, obstacles  Limited-range  Cooperative 19/42

20. 4. Approach (3/5) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]  Sensing  Robots, targets, obstacles  Limited-range  Cooperative  Global positioning system 20/42

21. 4. Approach (4/5) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]  Force vectors  Local  Weighted  Reduce overlap  Summed 21/42

22. 4. Approach (5/5) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]  Force vectors 22/42

23. 4. Approach (5/5) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]  Force vectors  Initialization 23/42

24. Outline Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011] 1. Introduction 2. Problem Description 3. Related Work 4. Approach 5. Experiments 6. Conclusion 24/42

25. 5. Experiments (1/15) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]  Platform 1. Simulation 2. Physical  Robot control 1. A-CMOMMTweighted force vectors 2. Localnon-weighted 3. Random 4. Fixed  Target control 1. Random/linear 2. Evasivesimulation only  Obstacles 25/42

26. 5. Experiments (2/15) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011] 26/42

27. 5. Experiments (3/15) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011] 27/42

28. 5. Experiments (4/15) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011] 28/42

29. 5. Experiments (5/15) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011] 29/42

30. 5. Experiments (6/15) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011] 30/42

31. 5. Experiments (7/15) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011] 31/42

32. 5. Experiments (8/15) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011] 32/42

33. 5. Experiments (9/15) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011] 33/42

34. 5. Experiments (10/15) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011] 34/42

35. 5. Experiments (11/15) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011] 35/42

36. 5. Experiments (12/15) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011] 36/42

37. 5. Experiments (13/15) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011] 37/42

38. 5. Experiments (14/15) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011] 38/42

39. 5. Experiments (15/15) Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011] 39/42

40. Outline Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011] 1. Introduction 2. Problem Description 3. Related Work 4. Approach 5. Experiments 6. Conclusion 40/42

41. 6. Conclusion Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]  Cooperative multi-robot observation of multiple moving targets  Distributed approach  Weighted local force vectors  Comparison  Weighted vs. non-weighted  Heuristic vs. random vs. fixed  Random/linear vs. evasive  Other interesting approaches  Multi-robot learning  Other interesting applications  Border security  AQUA team 41/42

42. Thank you! Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets [Parker 2002] COMP765: Mobile Robotics [Winter 2011]  Questions? 42/42