GOALS design and develop heterogeneous teams of robots
description
Transcript of GOALS design and develop heterogeneous teams of robots
GOALS
• design and develop heterogeneous teams of robots
• link these robots to one another, humans, and other information sources using the RETSINA multiagent architecture
• develop effective strategies to support cooperation among the team
MEANS
Constructing and housing a replica of NIST’s Orange arena
Constructing interactive simulations of the NIST areas
In the first five months we have:
• Conducted extensive data collection at the NIST USAR facility
• Constructed an initial simulation of the Orange Arena
• Begun experimentation for constructing a stair/rubble climbing robot
Near Future:
Focus on teleoperation
Medium Future:
Focus on cooperation
Data Collection Team at NIST
Robots Agents and People: Teams for USARMary Berna, Illah Nourbakhsh, & Katia Sycara Carnegie Mellon University
Michael Lewis & Jijun Wang University of Pittsburgh
User 1 User 2 User u
InfoSource 1
InfoSource 1
Interface Agent 1Interface Agent 1 Interface Agent 2Interface Agent 2 Interface Agent iInterface Agent i
Task Agent 1Task Agent 1 Task Agent 2Task Agent 2 Task Agent tTask Agent t
MiddleAgent 2MiddleAgent 2
Info Agent nInfo Agent n
InfoSource 2
InfoSource 2
InfoSource m
InfoSource m
Goal and TaskSpecifications Results
SolutionsTasks
Info & ServiceRequests
Information IntegrationConflict Resolution Replies
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Info Agent 1Info Agent 1
Queries
Answers
RAP Project RETSINA- multiagent Systems architecture
Retsina agents come with built-in planning, & communications capability and have been designed to support cooperation including dynamic discovery and loss of communications
Individual RETSINA agent architecture
Typical RETSINA MAS architecture
Retsina agents will provide outer loop control and serve to link USAR robots with one another, human controllers, and external information sources.
USAR Simulation
We are developing simulations of all three NIST arenas using the Unreal game engine and the GameBots modification to insert simulated robots
NIST photograph of Orange Arena
Simulated Orange arena (without rubble)
Robot level view real arena
Robot level view simulation
Novel USAR Robots
We are developing a cadre of differentially capable robots we hope to control through a matchmaking, collaboration process.
Pictured below are views of Corky, an experimental stairs/rubble climber
1 Acknowledgements
This project is supported by NSF grant NSF-ITR-0205526.. Alexander Gutierrez, Terence Keegan, Kevin Oishi, Binoy Shah, Steven Shamlian, Mark Yong, and Josh Young assisted in data collection.