Distributed Mobile Robotics (DMR) is a multidisciplinary research area with many open research questions.This is a survey of the state of the art in Distributed Mobile Robotics research. DMR is sometimes referred to as cooperative robotics or multi-robotic systems. DMR is about how multiple robots can cooperate to achieve goals and complete tasks better than single robot systems. It covers architectures, communication, learning, exploration and many other areas presented in this master thesis.
Contents
1. INTRODUCTION
1.1 PURPOSE AND GOALS
1.2 SCOPE
1.3 METHOD
1.4 THESIS OUTLINE
2. BACKGROUND
2.1 DEFINITION OF DISTRIBUTED, MOBILE AND ROBOTICS
2.1.1 Definition of “distributed”
2.1.2 Definition of “mobile”
2.1.3 Definition of “robotics”
2.2 RELATED DEFINITIONS
2.2.1 Intelligent robot
2.2.2 Definition of “self -contained”
2.2.3 Classification of intelligent robotic systems
2.2.4 Definition of an agent
2.3 MY DEFINITION OF DMR
2.4 HISTORY
3. WHY USE A DMR SYSTEM?
3.1 ADVANTAGES
3.2 DISADVANTAGES
4. CURRENT AND FUTURE DMR APPLICATIONS
4.1 CURRENT DMR APPLICATIONS
4.1.1 Test domains
4.1.2 Robot soccer
4.1.3 Cleaning
4.1.4 Robot wars
4.1.5 Medical and personal care
4.1.6 Security
4.1.7 Household and industrial maintenance
4.1.8 Entertainment
4.2 FUTURE DMR APPLICATIONS
4.2.1 The Borg from Star Trek
4.2.2 Save human lives
4.2.3 Site preparation on Mars
4.2.4 Exploration
5. STATE OF THE ART
5.1 CHARACTERIZATION OF A DMR SYSTEM
5.2 COMMUNICATION
5.3 ARCHITECTURE
5.4 CENTRALIZED OR DECENTRALIZED APPROACH
5.5 DEADLOCK
5.6 COOPERATION
5.7 LEARNING
5.8 RECONFIGURATION.
5.9 NAVIGATION / EXPLORATION / RECONNAISSANCE
5.10 FORMATIONS
5.11 MULTI-TARGET OBSERVATION
5.12 TASK ALLOCATION
5.13 TRANSPORTATION
5.14 BIOLOGY
5.15 SYNTHESIS OF ROBOT TEAMS
5.16 TRAFFIC TELEMATICS
6. CONCLUSION
6.1 GUIDELINES
6.2 BIT RESOURCES FOR DMR RESEARCH
6.3 OPEN RESEARCH QUESTIONS
6.3.1 Communication
6.3.2 Learning
6.3.3 Architecture
6.3.4 Team size
6.3.5 Control
6.3.6 Reconfiguration
6.3.7 Performance
6.3.8 Other
6.4 FUTURE WORK
6.5 SUMMARY
7. REFERENCES
7.1 REPORTS AND ARTICLES
7.2 WEBREFERENCES
APPENDIX I. DMR RESEARCH LABORATORIES
ACADEMIA
North America
Europe
Asia
GOVERNMENT
Swedish Defence Research Institute (FOI)
DARPA
NASA Jet Propulsion Laboratory (JPL)
Center for Engineering Systems Advanced Research, Oak Ridge National Laboratory (ORNL)
APPENDIX II. DMR COMPANIES
Sony
Irobot corporation
Activmedia robots
Cybermotion
Denning
K-Team
Lego Mindstorm
Honda
Electrolux
Husqvarna
ABB Robotics
SAAB
Nomadic
APPENDIX III. DMR ORGANISATIONS
International Federation of Robotics (IFR)
National Science Foundation (NSF), Robotic council
Swedish Industrial Robot Association (SWIRA),
RoboCup Federation
International Federation of Automatic Control (IFAC)
European Robotics Research Network (EURON)
IEEE Robotics and Automation Society
APPENDIX IV. DMR JOURNALS AND CONFERENCES
JOURNALS
CONFERENCES
APPENDIX V. TERMS AND ABBREVIATIONS
Author: Victor Adolfsson
Source: Blekinge Institute of Technology
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