ROBOCOMM 2009

    ROBOCOMM

    2nd International ICST Conference on Robot Communication and Coordination

    The Second International Conference on Robot Communication and Coordination targets the convergence of robotics and communications, acting as a common forum for the two communities. The event will promote cross-pollination of these two areas, adding to our understanding of the interaction between t…

    The Second International Conference on Robot Communication and Coordination targets the convergence of robotics and communications, acting as a common forum for the two communities. The event will promote cross-pollination of these two areas, adding to our understanding of the interaction between these two exciting computer science research areas. Robotics is an interdisciplinary field, having benefited greatly from interactions with mechanics, control theory, and electronics. Lately, with the unprecedented growth of wireless communication technologies, the growing attention devoted to sensor networks and ad-hoc networks, and the emergence of commodity robotics platforms, networked robotics represents an exciting new research direction. Networked robotics offers a framework for coordination of complex mobile systems, thus providing the natural common ground for convergence of information processing, communication theory and control theory. It poses significant challenges, requiring the integration of communication theory, software engineering, distributed sensing and control into a common framework. Furthermore, robots are unique in that their motion and tasking control systems are co-located with the communications mechanisms. This allows the co-exploitation of individual subsystems to provide completely new kinds of networked or distributed autonomy.

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    Editor(s): Ramesh Govindan and Kasper Stoy
    Publisher
    IEEE
    ISBN
    978-963-9799-51-6
    Conference dates
    31st Mar–2nd Apr 2009
    Location
    Odense, Denmark
    Appeared in EUDL
    29th Nov 2011
    Appears in
    IEEEXplore

    Copyright © 2011–2013 ICST

    • Flexible Software for Industrial Robots

      Research Article in 2nd International ICST Conference on Robot Communication and Coordination

      António Ferrolho, Manuel Crisóstomo

      Abstract
      This paper describes flexible software for industrial robots. WinRS232ROBOTcontrol and winEthernetROBOTcontrol software were developed to be used in industrial robots. With this software, industrial …This paper describes flexible software for industrial robots. WinRS232ROBOTcontrol and winEthernetROBOTcontrol software were developed to be used in industrial robots. With this software, industrial robots can be integrated in modern production systems, in an easy and efficient way. A Robotic Bar and a Flexible Manufacturing Cell (FMC) were developed with the objective of showing the potentialities of the developed software.
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    • Open Dynamic Distributed Service Architecture Design and Modelling

      Research Article in 2nd International ICST Conference on Robot Communication and Coordination

      Ghislain Putois, Philippe Bretier

      Abstract
      This paper presents a new methodology for the control and design of distributed service architectures in an open environment. A domotic service illustrates and introduces the modelling keypoints. In …This paper presents a new methodology for the control and design of distributed service architectures in an open environment. A domotic service illustrates and introduces the modelling keypoints. In particular, an explicit modelling of the attentional mechanism is used to overcome the lack of a global state in distributed systems and the relative impossibility to explicitly model all external events. Index Terms—distributed architecture, design, control, open environment, attention
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    • Graph-Based Distributed Control for Non-holonomic Vehicles Engaged in a Reconfiguration Task using Local Positioning Information

      Research Article in 2nd International ICST Conference on Robot Communication and Coordination

      Riccardo Falconi, Sven Gowal, Jim Pugh, Alcherio Martinoli

      Abstract
      Formation building and keeping among vehicles has been studied for many years, since 1987 with Reynolds’ rules [1]. This paper presents a control algorithm, based on recent work in graph theory, able…Formation building and keeping among vehicles has been studied for many years, since 1987 with Reynolds’ rules [1]. This paper presents a control algorithm, based on recent work in graph theory, able to reconfigure static formations of non-holonomic vehicles endowed solely with local positioning capabilities. The convergence of our approach is mathematically proven and applied to a realistic robotic platform.
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    • A Communication Technique for Swarm- Capable Autonomous Agents

      Research Article in 2nd International ICST Conference on Robot Communication and Coordination

      Hans Dermot Doran

      Abstract
      This paper reports on a communication technique and associated technology designed to achieve embodied and situated communication between swarm-capable autonomous agents. The swarm model chosen was t…This paper reports on a communication technique and associated technology designed to achieve embodied and situated communication between swarm-capable autonomous agents. The swarm model chosen was that of a fish school. A RFID based wireless communication system, also capable of measuring both direction of and distance to transmitter, was developed and installed on a Braitenberg vehicle. The communication technique allows vehicles to transmit, at regular intervals, their physiological state to the outside world in general and other vehicles in particular. The information transmitted may be used by other vehicles to decide whether or not to form a school and the communication reach fulfils the prerequisites to enable the vehicle to travel in a school formation.
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    • Minimizing Sum Distortion for Static and Mobile Fusion Center Placement in Underwater Sensor Networks

      Research Article in 2nd International ICST Conference on Robot Communication and Coordination

      Satish Vedantam, Urbashi Mitra, Gaurav S. Sukhatme, Filippo Arrichiello

      Abstract
      The problem of optimizing the position of a mobile fusion center in a sensor network is considered. The optimization criterion of interest is the sum distortion for the communication of all the infor…The problem of optimizing the position of a mobile fusion center in a sensor network is considered. The optimization criterion of interest is the sum distortion for the communication of all the information from each of the nodes to the fusion center. Transmission losses along underwater links are modeled and a time-multiplexing architecture imposed on the sensor nodes for communication with the fusion center. Classical results from the information theory literature are leveraged and the optimization problem is formulated and solved analytically for the case when the fusion center is at one fixed location and numerically for the case when the fusion center is mobile. It is observed that in the low node power regime, with the fusion center at a fixed location, the fusion center selectively communicates with a few nodes while turning the others off. In the high power regime, the time allocated to the nodes is a function of the information they need to transmit to the destination and the distance from the node to the fusion center. Further, when the fusion center is mobile, in the low power regime, the fusion center is placed close to the node with the largest information content while for higher powers the difference from a fixed fusion center declines.
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