Publications
2012 |
H. Profita; N. Farrow; N. Correll Flutter Inproceedings In: Adjunct Proceedings of the 16th International Symposium on Wearable Computers (ISWC), pp. 44-46, 2012. @inproceedings{profita12, title = {Flutter}, author = {H. Profita and N. Farrow and N. Correll}, url = {http://correll.cs.colorado.edu/wp-content/uploads/ISWC2012_AdjunctProceedings.pdf}, year = {2012}, date = {2012-06-14}, booktitle = {Adjunct Proceedings of the 16th International Symposium on Wearable Computers (ISWC)}, pages = {44-46}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } |
2011 |
V. Rai, A. van Rossum; N. Correll Self-Assembly of Modular Robots from finite number of modules using Graph Grammars Inproceedings In: In Proceedings of the International Conference on Intelligent Robots and Systems, pp. 4783-4789, IEEE/RSJ San Francisco, CA, 2011. @inproceedings{rai2011, title = {Self-Assembly of Modular Robots from finite number of modules using Graph Grammars}, author = {V. Rai, A. van Rossum and N. Correll}, url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6095038}, year = {2011}, date = {2011-09-01}, booktitle = {In Proceedings of the International Conference on Intelligent Robots and Systems}, pages = {4783-4789}, address = {San Francisco, CA}, organization = {IEEE/RSJ}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } |
M. Otte Any-Com Multi-Robot Path Planning PhD Thesis University of Colorado at Boulder, 2011. @phdthesis{otte2011, title = {Any-Com Multi-Robot Path Planning}, author = {M. Otte}, url = {http://gradworks.umi.com/3489609.pdf}, year = {2011}, date = {2011-08-01}, school = {University of Colorado at Boulder}, keywords = {}, pubstate = {published}, tppubtype = {phdthesis} } |
A. Derbakova; N. Correll; D. Rus Decentralized Self-Repair to Maintain Connectivity and Coverage in Networked Multi-Robot Systems Inproceedings In: Proceedings of the International Conference on Robotics and Automation (ICRA), pp. 3878-3885, Shanghai, China, 2011. @inproceedings{derbakova2011, title = {Decentralized Self-Repair to Maintain Connectivity and Coverage in Networked Multi-Robot Systems}, author = {A. Derbakova and N. Correll and D. Rus}, url = {http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5980367}, year = {2011}, date = {2011-05-01}, booktitle = {Proceedings of the International Conference on Robotics and Automation (ICRA)}, pages = {3878-3885}, address = {Shanghai, China}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } |
N. Correll; A. Martinoli Modeling Self-Organized Aggregation in a Swarm of Miniature Robots Journal Article In: The International Journal of Robotics Research, 30 (5), pp. 615-626, 2011, (Special Issue on Stochasticity in Robotics and Biological Systems). @article{correllijrr2011, title = {Modeling Self-Organized Aggregation in a Swarm of Miniature Robots}, author = {N. Correll and A. Martinoli}, editor = {Harry Asada and Vijay Kumar}, url = {http://dx.doi.org/10.1177/0278364911403017}, year = {2011}, date = {2011-04-01}, journal = {The International Journal of Robotics Research}, volume = {30}, number = {5}, pages = {615-626}, abstract = {We model the dynamics of self-organized robot aggregation inspired by a study on the aggregation of gregarious arthropods. In swarms of German cockroaches, aggregation into clusters emerges solely from local interactions between the individuals, whereas the probabilities of joining or leaving a cluster are a function of the cluster size. We propose a non-spatial population dynamics model that keeps track of the number of robots in clusters of specific size using control parameters of the individual robots and the probability of detecting another robot in the environment. The model is able to quantitatively and qualitatively predict the dynamics observed in extensive realistic multi-robot simulation, and provides qualitative agreement with data obtained from aggregation of Blattela germanica larvae. In particular, we show by analysis, numerical and realistic simulation that the emergence of a single aggregate requires a minimal communication range between individuals.}, note = {Special Issue on Stochasticity in Robotics and Biological Systems}, keywords = {}, pubstate = {published}, tppubtype = {article} } We model the dynamics of self-organized robot aggregation inspired by a study on the aggregation of gregarious arthropods. In swarms of German cockroaches, aggregation into clusters emerges solely from local interactions between the individuals, whereas the probabilities of joining or leaving a cluster are a function of the cluster size. We propose a non-spatial population dynamics model that keeps track of the number of robots in clusters of specific size using control parameters of the individual robots and the probability of detecting another robot in the environment. The model is able to quantitatively and qualitatively predict the dynamics observed in extensive realistic multi-robot simulation, and provides qualitative agreement with data obtained from aggregation of Blattela germanica larvae. In particular, we show by analysis, numerical and realistic simulation that the emergence of a single aggregate requires a minimal communication range between individuals. |
E. Komendera; D. Reishus; N. Correll Assembly by Intelligent Scaffolding Technical Report University of Colorado at Boulder (CU-CS 1080-11), 2011. @techreport{komendera2011, title = {Assembly by Intelligent Scaffolding}, author = {E. Komendera and D. Reishus and N. Correll}, url = {http://www.cs.colorado.edu/department/publications/reports/docs/CU-CS-1080-11.pdf}, year = {2011}, date = {2011-04-01}, number = {CU-CS 1080-11}, institution = {University of Colorado at Boulder}, abstract = {We propose a novel class of algorithms for autonomously assembling structures from inert building blocks guided by intelligent scaffolding components. Intelligent scaffold units are equipped with sensing, actuation, computation and communication abilities and facilitate the attachment of inert building blocks to the structure. After attaching an inert building block, the scaffold structure reconfigures to attach the next block until the structure is completed. The proposed algorithms are scale-free and independent of the implementation of the locomotion of building blocks and intelligent scaffolding blocks. For example, movement of building and scaffold blocks can be achieved using manipulating robots or self-assembly in a well-stirred liquid. In a robotic assembly context, the intelligent scaffolds take the role of markers on the structure and allow for reducing the perception and coordination requirements on the robotic team. In this paper, we describe algorithms for converting any desired structure that can be represented as 3D lattice into a finite state machine that is executed by intelligent scaffolding blocks; we prove that all finite structures can be assembled using intelligent scaffolds; and we provide examples of simulations that assemble a square, a fractal structure, and a model of a space station, each using only three intelligent scaffold components.}, keywords = {}, pubstate = {published}, tppubtype = {techreport} } We propose a novel class of algorithms for autonomously assembling structures from inert building blocks guided by intelligent scaffolding components. Intelligent scaffold units are equipped with sensing, actuation, computation and communication abilities and facilitate the attachment of inert building blocks to the structure. After attaching an inert building block, the scaffold structure reconfigures to attach the next block until the structure is completed. The proposed algorithms are scale-free and independent of the implementation of the locomotion of building blocks and intelligent scaffolding blocks. For example, movement of building and scaffold blocks can be achieved using manipulating robots or self-assembly in a well-stirred liquid. In a robotic assembly context, the intelligent scaffolds take the role of markers on the structure and allow for reducing the perception and coordination requirements on the robotic team. In this paper, we describe algorithms for converting any desired structure that can be represented as 3D lattice into a finite state machine that is executed by intelligent scaffolding blocks; we prove that all finite structures can be assembled using intelligent scaffolds; and we provide examples of simulations that assemble a square, a fractal structure, and a model of a space station, each using only three intelligent scaffold components. |
Michael Otte; Nikolaus Correll Path Planning with Forests of Random Trees: Parallelization with Super Linear Speedup Technical Report University of Colorado at Boulder (CU-CS 1079-11), 2011. @techreport{otte10tech, title = {Path Planning with Forests of Random Trees: Parallelization with Super Linear Speedup}, author = {Michael Otte and Nikolaus Correll}, url = {http://www.cs.colorado.edu/department/publications/reports/docs/CU-CS-1079-11.pdf}, year = {2011}, date = {2011-04-01}, number = {CU-CS 1079-11}, institution = {University of Colorado at Boulder}, keywords = {}, pubstate = {published}, tppubtype = {techreport} } |
A. Prorok; N. Correll; A. Martinoli Multi-Level Spatial Models for Swarm-Robotic Systems Journal Article In: The International Journal of Robotics Research. Special Issue on Stochasticity in Robotics and Biological Systems., 30 (5), pp. 574–589, 2011. @article{prorok10, title = {Multi-Level Spatial Models for Swarm-Robotic Systems}, author = {A. Prorok and N. Correll and A. Martinoli}, url = {http://ijr.sagepub.com/content/30/5/574.short}, year = {2011}, date = {2011-01-01}, journal = {The International Journal of Robotics Research. Special Issue on Stochasticity in Robotics and Biological Systems.}, volume = {30}, number = {5}, pages = {574--589}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
2010 |
M. Otte; N. Correll Any-Com Multi-Robot Path-Planning with Dynamic Teams: Multi-Robot Coordination under Communication Constraints Inproceedings In: Experimental Robotics, Springer Tracts in Advanced Robotics, pp. 743-757, New Dehli, India, 2010. @inproceedings{otte10iser, title = {Any-Com Multi-Robot Path-Planning with Dynamic Teams: Multi-Robot Coordination under Communication Constraints}, author = {M. Otte and N. Correll}, url = {http://iser2010.grasp.upenn.edu/sites/iser2010/files/papers/ISER2010_0052_bb2fc139e8d128bd9a4de9cf9670a87b.pdf}, year = {2010}, date = {2010-12-15}, booktitle = {Experimental Robotics, Springer Tracts in Advanced Robotics}, volume = {79}, pages = {743-757}, address = {New Dehli, India}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } |
N. Correll; C. Onal; H. Liang; E. Schoenfeld; D. Rus Soft Autonomous Materials - Using Programmed Elasticity and Embedded Distributed Computation Inproceedings In: Oussama Kahtib, Vijay Kumar; Gaurav Sukhatme (Ed.): International Symposium on Experimental Robotics (ISER). Springer Tracts in Advanced Robotics., 2010. @inproceedings{correll10iser, title = {Soft Autonomous Materials - Using Programmed Elasticity and Embedded Distributed Computation}, author = {N. Correll and C. Onal and H. Liang and E. Schoenfeld and D. Rus}, editor = {Oussama Kahtib, Vijay Kumar and Gaurav Sukhatme}, url = {http://iser2010.grasp.upenn.edu/sites/iser2010/files/papers/ISER2010_0005_4acc3eceaf12e1a196a3f4b2582efe72.pdf}, year = {2010}, date = {2010-12-15}, booktitle = {International Symposium on Experimental Robotics (ISER). Springer Tracts in Advanced Robotics.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } |
M. Otte; N. Correll Any-Com Multi-Robot Path Planning: Maximizing Collaboration for Variable Bandwidth Inproceedings In: Proceedings of the 10th Int. Symposium on Distributed Autonomous Robotic Systems (DARS), Distributed Autonomous Robotic Systems, Springer Tracts in Advanced Robotics 83, pp. 161-173, 2010. @inproceedings{ottedars10, title = {Any-Com Multi-Robot Path Planning: Maximizing Collaboration for Variable Bandwidth}, author = {M. Otte and N. Correll}, url = {http://www.mit.edu/~ottemw/html_stuff/pdf_files/otte_dars2010.pdf}, year = {2010}, date = {2010-11-03}, booktitle = {Proceedings of the 10th Int. Symposium on Distributed Autonomous Robotic Systems (DARS), Distributed Autonomous Robotic Systems, Springer Tracts in Advanced Robotics 83}, volume = {83}, pages = {161-173}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } |
D. Sutton; P. Klein; M. Otte; N. Correll Object Interaction Language (OIL): An Intent-based Language for Programming Self-Organized Sensor/Actuator Networks Inproceedings In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 6113–6118, Taipei, Taiwan, 2010, (To appear). @inproceedings{sutton10, title = {Object Interaction Language (OIL): An Intent-based Language for Programming Self-Organized Sensor/Actuator Networks}, author = {D. Sutton and P. Klein and M. Otte and N. Correll}, url = {http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5651536}, year = {2010}, date = {2010-10-01}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, pages = {6113--6118}, address = {Taipei, Taiwan}, note = {To appear}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } |
N. Correll; R. Gross From swarm robotics to smart materials Journal Article In: Neural Computing & Applications. Special Issue on Swarm Robotics, 19 (6), pp. 785-786, 2010. @article{correllgross11, title = {From swarm robotics to smart materials}, author = {N. Correll and R. Gross}, editor = {N. Correll and R. Gross}, url = {http://www.springerlink.com/content/q422275476275527/}, year = {2010}, date = {2010-08-10}, journal = {Neural Computing & Applications. Special Issue on Swarm Robotics}, volume = {19}, number = {6}, pages = {785-786}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
N. Correll; D. Rus Peer-to-Peer Learning in Robotics Education: Lessons from a Challenge Project Class Journal Article In: ASEE Computers in Education Journal, 1 (3), pp. 60-66, 2010, (Special issue on Robotics Education). @article{correllasee10, title = {Peer-to-Peer Learning in Robotics Education: Lessons from a Challenge Project Class}, author = {N. Correll and D. Rus}, url = {http://correll.cs.colorado.edu/wp-content/uploads/roboticsineducation.pdf}, year = {2010}, date = {2010-08-01}, journal = {ASEE Computers in Education Journal}, volume = {1}, number = {3}, pages = {60-66}, note = {Special issue on Robotics Education}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
N. Wagle; N. Correll Multiple Object 3D-Mapping using a Physics Simulator Technical Report (CU-CS 1069-10), 2010. @techreport{wagle2010, title = {Multiple Object 3D-Mapping using a Physics Simulator}, author = {N. Wagle and N. Correll}, url = {http://www.cs.colorado.edu/department/publications/reports/docs/CU-CS-1069-10.pdf}, year = {2010}, date = {2010-07-01}, number = {CU-CS 1069-10}, keywords = {}, pubstate = {published}, tppubtype = {techreport} } |
M. Otte; N. Correll The Any-Com Approach to Multi-Robot Coordination Inproceedings In: IEEE International Conference on Robotics and Automation (ICRA), Workshop on Network Science and Systems Issues in Multi-Robot Autonomy (NETSS), Anchorage, AK, USA, 2010. @inproceedings{otte10, title = {The Any-Com Approach to Multi-Robot Coordination}, author = {M. Otte and N. Correll}, url = {http://www.mit.edu/~ottemw/html_stuff/pdf_files/otte_icra_netss10.pdf}, year = {2010}, date = {2010-05-01}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA), Workshop on Network Science and Systems Issues in Multi-Robot Autonomy (NETSS)}, address = {Anchorage, AK, USA}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } |
N. Correll; N. Arechiga; A. Bolger; M. Bollini; B. Charrow; A. Clayton; F. Dominguez; K. Donahue; S. Dyar; L. Johnson; H. Liu; A. Patrikalakis; T. Robertson; J. Smith; D. Soltero; M. Tanner; L. White; D. Rus Building a Distributed Robot Garden Journal Article In: Intelligent Service Robots, Special Issue on Agricultural Robotics, 3 (4), pp. 219–232, 2010. @article{correllrus10, title = {Building a Distributed Robot Garden}, author = {N. Correll and N. Arechiga and A. Bolger and M. Bollini and B. Charrow and A. Clayton and F. Dominguez and K. Donahue and S. Dyar and L. Johnson and H. Liu and A. Patrikalakis and T. Robertson and J. Smith and D. Soltero and M. Tanner and L. White and D. Rus}, editor = {Denny Oetomo and John Billingsley}, url = {http://www.springerlink.com/content/481r18725x465631/}, year = {2010}, date = {2010-01-01}, journal = {Intelligent Service Robots, Special Issue on Agricultural Robotics}, volume = {3}, number = {4}, pages = {219--232}, abstract = {This paper describes the architecture and implementation of a distributed autonomous gardening system with applications in urban/indoor precision agriculture. The garden is a mesh network of robots and plants. The gardening robots are mobile manipulators with an eye-in-hand camera. They are capable of locating plants in the garden, watering them, and locating and grasping fruit. The plants are potted cherry tomatoes enhanced with sensors and computation to monitor their well-being (e.g. soil humidity, state of fruits) and with networking to communicate servicing requests to the robots. By embedding sensing, computation, and communication into the pots, task allocation in the system is de-centrally coordinated, which makes the system scalable and robust against the failure of a centralized agent. We describe the architecture of this system and present experimental results for navigation, object recognition, and manipulation as well as challenges that lie ahead toward autonomous precision agriculture with multi-robot teams.}, keywords = {}, pubstate = {published}, tppubtype = {article} } This paper describes the architecture and implementation of a distributed autonomous gardening system with applications in urban/indoor precision agriculture. The garden is a mesh network of robots and plants. The gardening robots are mobile manipulators with an eye-in-hand camera. They are capable of locating plants in the garden, watering them, and locating and grasping fruit. The plants are potted cherry tomatoes enhanced with sensors and computation to monitor their well-being (e.g. soil humidity, state of fruits) and with networking to communicate servicing requests to the robots. By embedding sensing, computation, and communication into the pots, task allocation in the system is de-centrally coordinated, which makes the system scalable and robust against the failure of a centralized agent. We describe the architecture of this system and present experimental results for navigation, object recognition, and manipulation as well as challenges that lie ahead toward autonomous precision agriculture with multi-robot teams. |
A. Cephers; I. Kushnir; M. Otte; C. Lewis; N. Correll Brain Computer Interfaces Conference AAAI Video Competition, Atlanta, GA, USA, 2010. @conference{cephers10, title = {Brain Computer Interfaces}, author = {A. Cephers and I. Kushnir and M. Otte and C. Lewis and N. Correll}, year = {2010}, date = {2010-01-01}, booktitle = {AAAI Video Competition}, address = {Atlanta, GA, USA}, keywords = {}, pubstate = {published}, tppubtype = {conference} } |
2009 |
N. Correll; D. Rus; J. Bachrach; D. Vickery Ad-hoc Wireless Network Coverage with Networked Robots that Cannot Localize Inproceedings In: IEEE International Conference on Robotics and Automation, pp. 3878 - 3885, Kobe, Japan, 2009. @inproceedings{correllicra09, title = {Ad-hoc Wireless Network Coverage with Networked Robots that Cannot Localize}, author = {N. Correll and D. Rus and J. Bachrach and D. Vickery}, url = {http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=5152742}, year = {2009}, date = {2009-05-01}, booktitle = {IEEE International Conference on Robotics and Automation}, pages = {3878 - 3885}, address = {Kobe, Japan}, abstract = {We study a fully distributed, reactive algorithm for deployment and maintenance of a mobile communication backbone that provides an area around a network gateway with wireless network access for higher-level agents. Possible applications of such a network are distributed sensor networks as well as communication support for disaster or military operations. The algorithm has minimalist requirements on the individual robotic node and does not require any localization. This makes the proposed solution suitable for deployment of large numbers of comparably cheap mobile communication nodes and as a backup solution for more capable systems in GPS-denied environments. Robots keep exploring the configuration space by random walk and stop only if their current location satisfies user-specified constraints on connectivity (number of neighbors). Resulting deployments are robust and convergence is analyzed using both kinematic simulation with a simplified collision and communication model as well as a probabilistic macroscopic model. The approach is validated on a team of 9 iRobot Create robots carrying wireless access points in an indoor environment.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } We study a fully distributed, reactive algorithm for deployment and maintenance of a mobile communication backbone that provides an area around a network gateway with wireless network access for higher-level agents. Possible applications of such a network are distributed sensor networks as well as communication support for disaster or military operations. The algorithm has minimalist requirements on the individual robotic node and does not require any localization. This makes the proposed solution suitable for deployment of large numbers of comparably cheap mobile communication nodes and as a backup solution for more capable systems in GPS-denied environments. Robots keep exploring the configuration space by random walk and stop only if their current location satisfies user-specified constraints on connectivity (number of neighbors). Resulting deployments are robust and convergence is analyzed using both kinematic simulation with a simplified collision and communication model as well as a probabilistic macroscopic model. The approach is validated on a team of 9 iRobot Create robots carrying wireless access points in an indoor environment. |
P. Amstutz; N. Correll; A. Martinoli Distributed Boundary Coverage with a Team of Networked Miniature Robots using a Robust Market-Based Algorithm Journal Article In: Annals of Mathematics and Artifcial Intelligence. Special Issue on Coverage, Exploration, and Search, 52 (2--4), pp. 307–333, 2009. @article{amstutz09, title = {Distributed Boundary Coverage with a Team of Networked Miniature Robots using a Robust Market-Based Algorithm}, author = {P. Amstutz and N. Correll and A. Martinoli}, editor = {Gal Kaminka and Amir Shapiro}, url = {http://www.springerlink.com/content/ej6n822132q24j7g/}, year = {2009}, date = {2009-01-01}, journal = {Annals of Mathematics and Artifcial Intelligence. Special Issue on Coverage, Exploration, and Search}, volume = {52}, number = {2--4}, pages = {307--333}, abstract = {We study distributed boundary coverage of known environments using a team of miniature robots. Distributed boundary coverage is an instance of the multi-robot task-allocation problem and has applications in inspection, cleaning, and painting among others. The proposed algorithm is robust to sensor and actuator noise, failure of individual robots, and communication loss. We use a market-based algorithm with known lower bounds on the performance to allocate the environmental objects of interest among the team of robots. The coverage time for systems subject to sensor and actuator noise is significantly shortended by on-line task re-allocation. The complexity and convergence properties of the algorithm are formally analyzed. The system performance is systematically analyzed at two different microscopic modeling levels, using agent-based, discrete-event and module-based, realistic simulators. Finally, results obtained in simulation are validated using a team of Alice miniature robots involved in a distributed inspection case study.}, keywords = {}, pubstate = {published}, tppubtype = {article} } We study distributed boundary coverage of known environments using a team of miniature robots. Distributed boundary coverage is an instance of the multi-robot task-allocation problem and has applications in inspection, cleaning, and painting among others. The proposed algorithm is robust to sensor and actuator noise, failure of individual robots, and communication loss. We use a market-based algorithm with known lower bounds on the performance to allocate the environmental objects of interest among the team of robots. The coverage time for systems subject to sensor and actuator noise is significantly shortended by on-line task re-allocation. The complexity and convergence properties of the algorithm are formally analyzed. The system performance is systematically analyzed at two different microscopic modeling levels, using agent-based, discrete-event and module-based, realistic simulators. Finally, results obtained in simulation are validated using a team of Alice miniature robots involved in a distributed inspection case study. |
N. Correll; A. Martinoli Multi-Robot Inspection of Industrial Machinery --- From Distributed Coverage Algorithms to Experiments with Miniature Robotic Swarms Journal Article In: IEEE Robotics & Automation Magazine, 16 (1), pp. 103–112, 2009. @article{correllra09, title = {Multi-Robot Inspection of Industrial Machinery --- From Distributed Coverage Algorithms to Experiments with Miniature Robotic Swarms}, author = {N. Correll and A. Martinoli}, url = {http://ieeexplore.ieee.org/search/srchabstract.jsp?arnumber=4799452&isnumber=4799428&punumber=100&k2dockey=4799452@ieeejrns&query=(correll)metadata&pos=2%22%20href=%22http://ieeexplore.ieee.org/search/srchabstract.jsp?arnumber=4799452&isnumber=4799428&punumber=100&k2dockey=4799452@ieeejrns&query=%28correll%29%3Cin%3Emetadata&pos=2}, year = {2009}, date = {2009-01-01}, journal = {IEEE Robotics & Automation Magazine}, volume = {16}, number = {1}, pages = {103--112}, abstract = {Inspection of aircraft and power generation machinery using a swarm of miniature robots is a promising application both from an intellectual and a commercial perspective. Our research is motivated by a case study concerned with the inspection of a jet turbine engine by a swarm of miniature robots. This article summarizes our efforts that include multirobot path planning, modeling of self-organized robotic systems, and the implementation of proof-of-concept experiments with real miniature robots. Although other research tackles challenges that arise from moving within three-dimensional (3-D) structured environments at the level of the individual robotic node, the emphasis of our work is on explicitly incorporating the potential limitations of the individual robotic platform in terms of sensor and actuator noise into the modeling and design process of collaborative inspection systems. We highlight difficulties and further challenges on the (lengthy) path toward truly autonomous parallel robotic inspection of complex engineered structures.}, keywords = {}, pubstate = {published}, tppubtype = {article} } Inspection of aircraft and power generation machinery using a swarm of miniature robots is a promising application both from an intellectual and a commercial perspective. Our research is motivated by a case study concerned with the inspection of a jet turbine engine by a swarm of miniature robots. This article summarizes our efforts that include multirobot path planning, modeling of self-organized robotic systems, and the implementation of proof-of-concept experiments with real miniature robots. Although other research tackles challenges that arise from moving within three-dimensional (3-D) structured environments at the level of the individual robotic node, the emphasis of our work is on explicitly incorporating the potential limitations of the individual robotic platform in terms of sensor and actuator noise into the modeling and design process of collaborative inspection systems. We highlight difficulties and further challenges on the (lengthy) path toward truly autonomous parallel robotic inspection of complex engineered structures. |
S. Rutishauser; N. Correll; A. Martinoli Collaborative Coverage using a Swarm of Networked Miniature Robots Journal Article In: Robotics & Autonomous Systems, 57 (5), pp. 517–525, 2009. @article{rutishauser09, title = {Collaborative Coverage using a Swarm of Networked Miniature Robots}, author = {S. Rutishauser and N. Correll and A. Martinoli}, url = {http://dx.doi.org/10.1016/j.robot.2008.10.023}, year = {2009}, date = {2009-01-01}, journal = {Robotics & Autonomous Systems}, volume = {57}, number = {5}, pages = {517--525}, abstract = {We study distributed coverage of environments with unknown extension using a team of networked miniature robots analytically and experimentally. Algorithms are analyzed by incrementally raising the abstraction level starting from physical robots, to realistic and discrete event system (DES) simulation. The realistic simulation is calibrated using sensor and actuator noise characteristics of the real platform and serves for calibration of the DES microscopic model. The proposed algorithm is robust to positional noise and communication loss, and its performance gracefully degrades for communication and localization failures to a lower bound, which is given by the performance of a non-coordinated, randomized solution. Results are validated by real robot experiments with miniature robots of a size smaller than 2 cm×2 cm×3 cm in a boundary coverage case study. Trade-offs between the abilities of the individual platform, required communication, and algorithmic performance are discussed.}, keywords = {}, pubstate = {published}, tppubtype = {article} } We study distributed coverage of environments with unknown extension using a team of networked miniature robots analytically and experimentally. Algorithms are analyzed by incrementally raising the abstraction level starting from physical robots, to realistic and discrete event system (DES) simulation. The realistic simulation is calibrated using sensor and actuator noise characteristics of the real platform and serves for calibration of the DES microscopic model. The proposed algorithm is robust to positional noise and communication loss, and its performance gracefully degrades for communication and localization failures to a lower bound, which is given by the performance of a non-coordinated, randomized solution. Results are validated by real robot experiments with miniature robots of a size smaller than 2 cm×2 cm×3 cm in a boundary coverage case study. Trade-offs between the abilities of the individual platform, required communication, and algorithmic performance are discussed. |
N. Correll; N. Arechiga; A. Bolger; M. Bollini; B. Charrow; A. Clayton; F. Dominguez; K. Donahue; S. Dyar; L. Johnson; H. Liu; A. Patrikalakis; T. Robertson; J. Smith; D. Soltero; M. Tanner; L. White; D. Rus Building a Distributed Robot Garden Inproceedings In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1509–1516, St. Louis, MO, 2009, (Runner-Up for NTF Best Paper Award). @inproceedings{correlliros09, title = {Building a Distributed Robot Garden}, author = {N. Correll and N. Arechiga and A. Bolger and M. Bollini and B. Charrow and A. Clayton and F. Dominguez and K. Donahue and S. Dyar and L. Johnson and H. Liu and A. Patrikalakis and T. Robertson and J. Smith and D. Soltero and M. Tanner and L. White and D. Rus}, url = {http://correll.cs.colorado.edu/pubs/iros09.pdf}, year = {2009}, date = {2009-01-01}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, pages = {1509--1516}, address = {St. Louis, MO}, note = {Runner-Up for NTF Best Paper Award}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } |
J. Beal; N. Correll; L. Urbina; J. Bachrach Behavior Modes for Randomized Robotic Coverage Inproceedings In: Proceedings of the 2nd Int. Conf. on Robot Communication and Coordination (ROBOCOM), pp. 1–6, Odense, Denmark, 2009. @inproceedings{beal09, title = {Behavior Modes for Randomized Robotic Coverage}, author = {J. Beal and N. Correll and L. Urbina and J. Bachrach}, url = {http://web.mit.edu/jakebeal/www/Publications/RoboComm-2009.pdf}, year = {2009}, date = {2009-01-01}, booktitle = {Proceedings of the 2nd Int. Conf. on Robot Communication and Coordination (ROBOCOM)}, pages = {1--6}, address = {Odense, Denmark}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } |
2008 |
N. Correll Cells and Robots: Modeling and Control of Large-Size Agent Populations (Dejan L.J. Milutinovic and P. Lima; 2007) [Book Review] Journal Article In: IEEE Control Systems Magazine, 28 (5), pp. 140-141, 2008. @article{correllreview2008, title = {Cells and Robots: Modeling and Control of Large-Size Agent Populations (Dejan L.J. Milutinovic and P. Lima; 2007) [Book Review]}, author = {N. Correll}, year = {2008}, date = {2008-10-01}, journal = {IEEE Control Systems Magazine}, volume = {28}, number = {5}, pages = {140-141}, abstract = {The book introduces a hybrid dynamical modeling framework for modeling both the discrete population dynamics as well as the distribution of the swarm in a continuous state space. Some of the topics covered include: the analogy between an individual robot and a cell in terms of sensors and actuators and the analogy between the immune system and T-cell receptor dynamics; and a system of partial differential equations (PDEs) that describe the change of the continuous distribution of each discrete state as a function of both the state transition probabilities between discrete states and the vector fields that affect the continuous state distributions. The book is recommended to anyone who is interested in a probabilistic perspective on modeling large-scale distributed systems.}, keywords = {}, pubstate = {published}, tppubtype = {article} } The book introduces a hybrid dynamical modeling framework for modeling both the discrete population dynamics as well as the distribution of the swarm in a continuous state space. Some of the topics covered include: the analogy between an individual robot and a cell in terms of sensors and actuators and the analogy between the immune system and T-cell receptor dynamics; and a system of partial differential equations (PDEs) that describe the change of the continuous distribution of each discrete state as a function of both the state transition probabilities between discrete states and the vector fields that affect the continuous state distributions. The book is recommended to anyone who is interested in a probabilistic perspective on modeling large-scale distributed systems. |
N. Correll; M. Schwager; D. Rus Social Control of Herd Animals by Integration of Artificially Controlled Congeners Inproceedings In: From Animals to Animats 10. Lecture Notes in Computer Science, pp. 437–446, Osaka, Japan, 2008, (Best Paper Award). @inproceedings{correllsab08, title = {Social Control of Herd Animals by Integration of Artificially Controlled Congeners}, author = {N. Correll and M. Schwager and D. Rus}, url = {http://www.springerlink.com/content/hh5381867q4wp606/}, year = {2008}, date = {2008-01-01}, booktitle = {From Animals to Animats 10. Lecture Notes in Computer Science}, volume = {5040}, pages = {437--446}, address = {Osaka, Japan}, abstract = {We study social control of a cow herd in which some of the animals are controlled by a sensing and actuation device mounted on the cow. The control is social in that it aims at exploiting the existing gregarious behavior of the animals, rather than controlling each individual directly. As a case study we consider the open-loop control of the herd’s position using location-dependent stimuli. We propose a hybrid dynamical model for capturing the dynamics of the animals during periods of grazing and periods of stress. We assume that stress can either be induced by the sensing and actuation device or by social amplification due to observing/overhearing nearby stressed congeners. The dynamics of the grazing part of the proposed model have been calibrated using experimental data from 10 free-ranging cows, and various assumptions on the animal behavior under stress are investigated by a parameter sweep on the hybrid model. Results show that the gregarious behavior of the animals must be increased during stress for control by undirected stimuli to be successful. We also show that the presence of social amplification of stress allows for robust, low-stress control by controlling only a fraction of the herd.}, note = {Best Paper Award}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } We study social control of a cow herd in which some of the animals are controlled by a sensing and actuation device mounted on the cow. The control is social in that it aims at exploiting the existing gregarious behavior of the animals, rather than controlling each individual directly. As a case study we consider the open-loop control of the herd’s position using location-dependent stimuli. We propose a hybrid dynamical model for capturing the dynamics of the animals during periods of grazing and periods of stress. We assume that stress can either be induced by the sensing and actuation device or by social amplification due to observing/overhearing nearby stressed congeners. The dynamics of the grazing part of the proposed model have been calibrated using experimental data from 10 free-ranging cows, and various assumptions on the animal behavior under stress are investigated by a parameter sweep on the hybrid model. Results show that the gregarious behavior of the animals must be increased during stress for control by undirected stimuli to be successful. We also show that the presence of social amplification of stress allows for robust, low-stress control by controlling only a fraction of the herd. |
T. Lochmatter; P. Roduit; C. Cianci; N. Correll; J. Jacot; A. Martinoli SwisTrack --- A Flexible Open Source Tracking Software for Multi-Agent Systems Inproceedings In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4004–4010, Nice, France, 2008. @inproceedings{lochmatter08, title = {SwisTrack --- A Flexible Open Source Tracking Software for Multi-Agent Systems}, author = {T. Lochmatter and P. Roduit and C. Cianci and N. Correll and J. Jacot and A. Martinoli}, url = {http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=4650937}, year = {2008}, date = {2008-01-01}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, pages = {4004--4010}, address = {Nice, France}, abstract = {Vision-based tracking is used in nearly all robotic laboratories for monitoring and extracting of agent positions, orientations, and trajectories. However, there is currently no accepted standard software solution available, so many research groups resort to developing and using their own custom software. In this paper, we present version 4 of SwisTrack, an open source project for simultaneous tracking of multiple agents. While its broad range of pre-implemented algorithmic components allows it to be used in a variety of experimental applications, its novelty stands in its highly modular architecture. Advanced users can therefore also implement additional customized modules which extend the functionality of the existing components within the provided interface. This paper introduces SwisTrack and shows experiments with both marked and marker-less agents.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } Vision-based tracking is used in nearly all robotic laboratories for monitoring and extracting of agent positions, orientations, and trajectories. However, there is currently no accepted standard software solution available, so many research groups resort to developing and using their own custom software. In this paper, we present version 4 of SwisTrack, an open source project for simultaneous tracking of multiple agents. While its broad range of pre-implemented algorithmic components allows it to be used in a variety of experimental applications, its novelty stands in its highly modular architecture. Advanced users can therefore also implement additional customized modules which extend the functionality of the existing components within the provided interface. This paper introduces SwisTrack and shows experiments with both marked and marker-less agents. |
H. Balakrishnan; N. Correll; J. Eriksson; S. Lim; S. Madden; D. Rus PCP: The Personal Commute Portal Inproceedings In: 6th ACM Conference on Embedded Networked Sensor Systems (SenSys '08), pp. 353–354, Raleigh, NC, USA, 2008. @inproceedings{balakrishnan08, title = {PCP: The Personal Commute Portal}, author = {H. Balakrishnan and N. Correll and J. Eriksson and S. Lim and S. Madden and D. Rus}, url = {http://portal.acm.org/citation.cfm?id=1460412.1460448}, year = {2008}, date = {2008-01-01}, booktitle = {6th ACM Conference on Embedded Networked Sensor Systems (SenSys '08)}, pages = {353--354}, address = {Raleigh, NC, USA}, abstract = {The Personal Commute Portal (PCP) is a Web-based traffic information system that provides a good driving direction and personalized route recommendation using historical and real-time traffic data obtained by a vehicular sensor network.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } The Personal Commute Portal (PCP) is a Web-based traffic information system that provides a good driving direction and personalized route recommendation using historical and real-time traffic data obtained by a vehicular sensor network. |
N. Correll Parameter Estimation and Optimal Control of Swarm-Robotic Systems: A Case Study in Distributed Task Allocation Inproceedings In: IEEE International Conference on Robotics and Automation, pp. 3302–3307, Pasadena, CA, USA, 2008. @inproceedings{correllicra08, title = {Parameter Estimation and Optimal Control of Swarm-Robotic Systems: A Case Study in Distributed Task Allocation}, author = {N. Correll}, url = {http://ieeexplore.ieee.org/Xplore/login.jsp?url=/iel5/4534525/4543169/04543714.pdf?arnumber=4543714}, year = {2008}, date = {2008-01-01}, booktitle = {IEEE International Conference on Robotics and Automation}, pages = {3302--3307}, address = {Pasadena, CA, USA}, abstract = {This paper presents a methodology for finding optimal control parameters as well as optimal system parameters for robot swarm controllers using probabilistic, population dynamic models. With distributed task allocation as a case study, we show how optimal control parameters leading to a desired steady-state task distribution for two fully-distributed algorithms can be found even if the parameters of the system are unknown. First, a reactive algorithm in which robots change states independently from each other and which leads to a linear macroscopic model describing the dynamics of the system is considered. Second, a threshold-based algorithm where robots change states based on the number of other robots in this state and which leads to a non-linear model is investigated. Whereas analytical results can be obtained for the linear system, the optimization of the non-linear controller is performed numerically. Finally, we show using stochastic simulations that whereas the presented methodology and models work best if the swarm size is large, useful results can already be obtained for team-sizes below a hundred robots. The methodology presented can be applied to scenarios involving the control of large numbers of entities with limited computational and communication abilities as well as a tight energy budget, such as swarms of robots from the centimeter to nanometer range or sensor networks.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } This paper presents a methodology for finding optimal control parameters as well as optimal system parameters for robot swarm controllers using probabilistic, population dynamic models. With distributed task allocation as a case study, we show how optimal control parameters leading to a desired steady-state task distribution for two fully-distributed algorithms can be found even if the parameters of the system are unknown. First, a reactive algorithm in which robots change states independently from each other and which leads to a linear macroscopic model describing the dynamics of the system is considered. Second, a threshold-based algorithm where robots change states based on the number of other robots in this state and which leads to a non-linear model is investigated. Whereas analytical results can be obtained for the linear system, the optimization of the non-linear controller is performed numerically. Finally, we show using stochastic simulations that whereas the presented methodology and models work best if the swarm size is large, useful results can already be obtained for team-sizes below a hundred robots. The methodology presented can be applied to scenarios involving the control of large numbers of entities with limited computational and communication abilities as well as a tight energy budget, such as swarms of robots from the centimeter to nanometer range or sensor networks. |
2007 |
N. Correll; A. Martinoli A Challenging Application in Swarm Robotics: The Autonomous Inspection of Complex Engineered Structures Journal Article In: Bulletin of the Swiss Society for Automatic Control, 46 , pp. 15-19, 2007. @article{correllbss07, title = { A Challenging Application in Swarm Robotics: The Autonomous Inspection of Complex Engineered Structures}, author = {N. Correll and A. Martinoli}, url = {A Challenging Application in Swarm Robotics: The Autonomous Inspection of Complex Engineered Structures}, year = {2007}, date = {2007-07-01}, journal = {Bulletin of the Swiss Society for Automatic Control}, volume = {46}, pages = {15-19}, howpublished = { Bulletin of the Swiss Society for Automatic Control}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
N. Correll; A. Martinoli Modeling Self-Organized Aggregation in a Swarm of Miniature Robots Inproceedings In: Int. Conf. on Robotics and Automation, Workshop on Collective Behaviors inspired by Biological and Biochemical Systems, Rome, Italy, 2007. @inproceedings{correllicraws07, title = {Modeling Self-Organized Aggregation in a Swarm of Miniature Robots}, author = {N. Correll and A. Martinoli}, year = {2007}, date = {2007-05-01}, booktitle = {Int. Conf. on Robotics and Automation, Workshop on Collective Behaviors inspired by Biological and Biochemical Systems}, address = {Rome, Italy}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } |
N. Correll Number 3919, Ecole Polytechnique Federale Lausanne, 2007, (Advisor: Alcherio Martinoli. Committee: Jean-Yves Le Boudec, Gal Kaminka, Vijay Kumar. textbf{Nominated for ABB EPFL Best PhD Thesis Award.}). @phdthesis{correllphd, title = {Coordination Schemes for Distributed Boundary Coverage with a Swarm of Miniature Robots: Synthesis, Analysis and Experimental Validation}, author = {N. Correll}, url = {http://library.epfl.ch/theses/?nr=3919}, year = {2007}, date = {2007-01-01}, school = {Number 3919, Ecole Polytechnique Federale Lausanne}, abstract = {We provide a comparison of a series of original coordination mechanisms for the distributed boundary coverage problem with a swarm of miniature robots. Our analysis is based on real robot experimentation and models at different levels of abstraction. Distributed boundary coverage is an instance of the distributed coverage problem and has applications such as inspection of structures, de-mining, cleaning, and painting. Coverage is a particularly good example for the benefits of a multi-robot approach due to the potential for parallel task execution and additional robustness out of redundancy. The constraints imposed by a potential application, the autonomous inspection of a jet turbine engine, were our motivation for the algorithms considered in this thesis. Thus, there is particular emphasis on how algorithms perform under the influence of sensor and actuator noise, limited computational and communication capabilities, as well as on the policies about how to cope with such problems. The algorithms developed in this dissertation can be classified into reactive and deliberative algorithms, as well as non-collaborative and collaborative algorithms. The performance of these algorithms ranges from very low to very high, corresponding to highly redundant coverage to near-optimal partitioning of the environments, respectively. At the same time, requirements and assumptions on the robotic platform and the environment (from no communication to global communication, and from no localization to global localization) are incrementally raised. All the algorithms are robust to sensor and actuator noise and gracefully decay to the performance of a randomized algorithm as a function of an increased noise level and/or additional hardware constraints. Although the deliberative algorithms are fully deterministic, the actual performance is probabilistic due to inevitable sensor and actuator noise. For this reason, probabilistic models are used for predicting time to complete coverage and take into account sensor and actuator noise calibrated by using real hardware. For reactive systems with limited memory, the performance is captured using a compact representation based on rate equations that track the expected number of robots in a certain state. As the number of states explode for the deliberative algorithms that require a substantial use of memory, this approach becomes less tractable with the amount of deliberation performed, and we use Discrete Event System (DES) simulation in these cases. Our contribution to the domain of multi-robot systems is three-fold. First, we provide a methodology for system identification and optimal control of a robot swarm using probabilistic models. Second, we develop a series of algorithms for distributed coverage by a team of miniature robots that gracefully decay from a near-optimal performance to the performance of a randomized approach under the influence of sensor and actuator noise. Third, we design an implement a miniature inspection platform based on the miniature robot Alice with ZigBee ready communication capabilities and color vision on a foot-print smaller than 2 × 2 × 3 cm3.}, note = {Advisor: Alcherio Martinoli. Committee: Jean-Yves Le Boudec, Gal Kaminka, Vijay Kumar. textbf{Nominated for ABB EPFL Best PhD Thesis Award.}}, keywords = {}, pubstate = {published}, tppubtype = {phdthesis} } We provide a comparison of a series of original coordination mechanisms for the distributed boundary coverage problem with a swarm of miniature robots. Our analysis is based on real robot experimentation and models at different levels of abstraction. Distributed boundary coverage is an instance of the distributed coverage problem and has applications such as inspection of structures, de-mining, cleaning, and painting. Coverage is a particularly good example for the benefits of a multi-robot approach due to the potential for parallel task execution and additional robustness out of redundancy. The constraints imposed by a potential application, the autonomous inspection of a jet turbine engine, were our motivation for the algorithms considered in this thesis. Thus, there is particular emphasis on how algorithms perform under the influence of sensor and actuator noise, limited computational and communication capabilities, as well as on the policies about how to cope with such problems. The algorithms developed in this dissertation can be classified into reactive and deliberative algorithms, as well as non-collaborative and collaborative algorithms. The performance of these algorithms ranges from very low to very high, corresponding to highly redundant coverage to near-optimal partitioning of the environments, respectively. At the same time, requirements and assumptions on the robotic platform and the environment (from no communication to global communication, and from no localization to global localization) are incrementally raised. All the algorithms are robust to sensor and actuator noise and gracefully decay to the performance of a randomized algorithm as a function of an increased noise level and/or additional hardware constraints. Although the deliberative algorithms are fully deterministic, the actual performance is probabilistic due to inevitable sensor and actuator noise. For this reason, probabilistic models are used for predicting time to complete coverage and take into account sensor and actuator noise calibrated by using real hardware. For reactive systems with limited memory, the performance is captured using a compact representation based on rate equations that track the expected number of robots in a certain state. As the number of states explode for the deliberative algorithms that require a substantial use of memory, this approach becomes less tractable with the amount of deliberation performed, and we use Discrete Event System (DES) simulation in these cases. Our contribution to the domain of multi-robot systems is three-fold. First, we provide a methodology for system identification and optimal control of a robot swarm using probabilistic models. Second, we develop a series of algorithms for distributed coverage by a team of miniature robots that gracefully decay from a near-optimal performance to the performance of a randomized approach under the influence of sensor and actuator noise. Third, we design an implement a miniature inspection platform based on the miniature robot Alice with ZigBee ready communication capabilities and color vision on a foot-print smaller than 2 × 2 × 3 cm3. |
J. Halloy; J.-M. Ame; G. Sempo C. Detrain; G. Caprari; M. Asadpour; N. Correll; A. Martinoli; F. Mondada; R. Siegwart; J.-L. Deneubourg Social integration of robots in groups of cockroaches to control self-organized choice Journal Article In: Science, 318 (5853), pp. 1155–1158, 2007. @article{halloy07, title = {Social integration of robots in groups of cockroaches to control self-organized choice}, author = {J. Halloy and J.-M. Ame and G. Sempo C. Detrain and G. Caprari and M. Asadpour and N. Correll and A. Martinoli and F. Mondada and R. Siegwart and J.-L. Deneubourg}, url = {http://www.sciencemag.org/content/318/5853/1155.full}, year = {2007}, date = {2007-01-01}, journal = {Science}, volume = {318}, number = {5853}, pages = {1155--1158}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
2006 |
N. Correll; G. Sempo; Y. Lopez de Meneses; J. Halloy; J.-L. Deneubourg; A. Martinoli SwisTrack: A Tracking Tool for Multi-Unit Robotic and Biological Research Inproceedings In: Proceedings of Intelligent Robots and Systems (IROS), pp. 2185–2191, Beijing, China, 2006. @inproceedings{correlliros06, title = {SwisTrack: A Tracking Tool for Multi-Unit Robotic and Biological Research}, author = {N. Correll and G. Sempo and Y. Lopez de Meneses and J. Halloy and J.-L. Deneubourg and A. Martinoli}, url = {http://ieeexplore.ieee.org/iel5/4058334/4058335/04058708.pdf}, year = {2006}, date = {2006-10-01}, booktitle = {Proceedings of Intelligent Robots and Systems (IROS)}, pages = {2185--2191}, address = {Beijing, China}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } |
N. Correll; A. Martinoli Towards Optimal Control of Self-Organized Robotic Inspection Systems Inproceedings In: 8th Int. IFAC Symp. on Robot Control (SYROCO), Bologna, Italy, 2006. @inproceedings{correllsyroco06, title = {Towards Optimal Control of Self-Organized Robotic Inspection Systems}, author = {N. Correll and A. Martinoli}, url = {http://www.ifac-papersonline.net/cgi-bin/links/page.cgi?g=Detailed/31116.html;d=1}, year = {2006}, date = {2006-07-01}, booktitle = {8th Int. IFAC Symp. on Robot Control (SYROCO)}, address = {Bologna, Italy}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } |
N. Correll; S. Rutishauser; A. Martinoli Comparing Coordination Schemes for Miniature Robotic Swarms: A Case Study in Boundary Coverage of Regular Structures Inproceedings In: Proc. of the Int. Symposium on Experimental Robotics. Springer Tracts in Advanced Robotics, pp. 471–480, Rio de Janeiro, Brazil, 2006, (Student Travel Fellowship). @inproceedings{correlliser06, title = {Comparing Coordination Schemes for Miniature Robotic Swarms: A Case Study in Boundary Coverage of Regular Structures}, author = {N. Correll and S. Rutishauser and A. Martinoli}, url = {http://www.springerlink.com/content/d6601214w2560734/}, year = {2006}, date = {2006-07-01}, booktitle = {Proc. of the Int. Symposium on Experimental Robotics. Springer Tracts in Advanced Robotics}, volume = {38}, pages = {471--480}, address = {Rio de Janeiro, Brazil}, abstract = {We consider boundary coverage of a regular structure by a swarm of miniature robots, and compare a suite of three fully distributed coordination algorithms experimentally. All algorithms rely on boundary coverage by reactive control, whereas coordination of the robots high-level behavior is fundamentally different: random, self-organized, and deliberative with reactive elements. The self-organized coordination algorithm was designed using macroscopic probabilistic models that lead to analytical expressions for the algorithm’s mean performance. We contrast this approach with a provably complete, near optimal coverage algorithm, which is due to its assumption (noise-less sensors and actuators) infeasible on a real miniature robotic platform, but is considered to yield best-possible policies for an individual robot. Experimental results with swarms of up to 30 robots show that self-organization significantly improves coverage performance with increasing swarm size. We also observe that enforcing a provably complete policy on a miniature robot with limited hardware capabilities is highly sub-optimal as there is a trade-off between coverage throughput and time spent for localization and navigation.}, note = {Student Travel Fellowship}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } We consider boundary coverage of a regular structure by a swarm of miniature robots, and compare a suite of three fully distributed coordination algorithms experimentally. All algorithms rely on boundary coverage by reactive control, whereas coordination of the robots high-level behavior is fundamentally different: random, self-organized, and deliberative with reactive elements. The self-organized coordination algorithm was designed using macroscopic probabilistic models that lead to analytical expressions for the algorithm’s mean performance. We contrast this approach with a provably complete, near optimal coverage algorithm, which is due to its assumption (noise-less sensors and actuators) infeasible on a real miniature robotic platform, but is considered to yield best-possible policies for an individual robot. Experimental results with swarms of up to 30 robots show that self-organization significantly improves coverage performance with increasing swarm size. We also observe that enforcing a provably complete policy on a miniature robot with limited hardware capabilities is highly sub-optimal as there is a trade-off between coverage throughput and time spent for localization and navigation. |
N. Correll; A. Martinoli System Identification of Self-Organized Robotic Swarms Inproceedings In: Maria Gini; Richard Voyles (Ed.): Distributed Autonomous Robotic Systems, pp. 31–40, Springer Distributed Autonomous Robotic Systems, Minneapolis, MN, USA (2006), 2006, (Best Paper Award). @inproceedings{correlldars06, title = {System Identification of Self-Organized Robotic Swarms}, author = {N. Correll and A. Martinoli}, editor = {Maria Gini and Richard Voyles}, url = {http://www.springerlink.com/content/l734240w84868611/}, year = {2006}, date = {2006-01-01}, booktitle = {Distributed Autonomous Robotic Systems}, pages = {31--40}, publisher = {Springer Distributed Autonomous Robotic Systems}, address = {Minneapolis, MN, USA (2006)}, abstract = {We discuss system identification of self-organizing, swarm robotic systems using a “gray-box” approach, based on probabilistic macroscopic models. Using a well known case study concerned with the autonomous inspection of a regular structure by a swarm of miniature robots, we show how to achieve highly accurate predictive models by combining previously developed probabilistic modeling and calibration methods, with parameter optimization based on experimental data (80 experiments involving 5–20 real robots). Key properties of the optimization process are outlined with the help of a simple scenario and a model that can be solved analytically. Concepts are then validated numerically for the more complex, non-linear inspection scenario.}, note = {Best Paper Award}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } We discuss system identification of self-organizing, swarm robotic systems using a “gray-box” approach, based on probabilistic macroscopic models. Using a well known case study concerned with the autonomous inspection of a regular structure by a swarm of miniature robots, we show how to achieve highly accurate predictive models by combining previously developed probabilistic modeling and calibration methods, with parameter optimization based on experimental data (80 experiments involving 5–20 real robots). Key properties of the optimization process are outlined with the help of a simple scenario and a model that can be solved analytically. Concepts are then validated numerically for the more complex, non-linear inspection scenario. |
2005 |
N. Correll; A. Martinoli Modeling and Analysis of Beacon-based and Beaconless policies for a Swarm-Intelligent Inspection System Inproceedings In: Int. Conf. on Robotics and Automation (ICRA), pp. 2488–2493, Barcelona, Spain, 2005. @inproceedings{correllicra05, title = {Modeling and Analysis of Beacon-based and Beaconless policies for a Swarm-Intelligent Inspection System}, author = {N. Correll and A. Martinoli}, url = {http://ieeexplore.ieee.org/iel5/10495/33250/01570484.pdf}, year = {2005}, date = {2005-05-01}, booktitle = {Int. Conf. on Robotics and Automation (ICRA)}, pages = {2488--2493}, address = {Barcelona, Spain}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } |
2004 |
N. Correll; A. Martinoli Collective Inspection of Regular Structures using a Swarm of Miniature Robots Inproceedings In: Marcelo Ang Jr.; Oussama Khatib (Ed.): International Symposium on Experimental Robotics, pp. 375–385, Springer Tracts in Advanced Robotics (STAR), Vol. 21, 2006, Singapore, 2004. @inproceedings{correlliser04, title = {Collective Inspection of Regular Structures using a Swarm of Miniature Robots}, author = {N. Correll and A. Martinoli}, editor = { Marcelo Ang Jr. and Oussama Khatib}, url = {http://www.springerlink.com/content/e478713q79056670/}, year = {2004}, date = {2004-05-22}, booktitle = {International Symposium on Experimental Robotics}, pages = {375--385}, publisher = {Springer Tracts in Advanced Robotics (STAR), Vol. 21, 2006}, address = {Singapore}, abstract = {We present a series of experiments concerned with the inspection of regular, engineered structures carried out using swarms of five to twenty autonomous, miniature robots, solely endowed with on-board, local sensors. Individual robot controllers are behavior-based and the swarm coordination relies on a fully distributed control algorithm. The resulting collective behavior emerges from a combination of simple robot-to-robot interactions and the underlying environmental template. To estimate intrinsic advantages and limitations of the proposed control solution, we capture its characteristics at higher abstraction levels using nonspatial, microscopic and macroscopic probabilistic models. Although both types of models achieve only qualitatively correct predictions, they help us to shed light on the influence of the environmental template and control design choices on the considered non-spatial swarm metrics (inspection time and redundancy). Modeling results suggest that additional geometric details of the environmental structure should be taken into account for improving prediction accuracy and that the proposed control solution can be further optimized without changing its underlying architecture.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } We present a series of experiments concerned with the inspection of regular, engineered structures carried out using swarms of five to twenty autonomous, miniature robots, solely endowed with on-board, local sensors. Individual robot controllers are behavior-based and the swarm coordination relies on a fully distributed control algorithm. The resulting collective behavior emerges from a combination of simple robot-to-robot interactions and the underlying environmental template. To estimate intrinsic advantages and limitations of the proposed control solution, we capture its characteristics at higher abstraction levels using nonspatial, microscopic and macroscopic probabilistic models. Although both types of models achieve only qualitatively correct predictions, they help us to shed light on the influence of the environmental template and control design choices on the considered non-spatial swarm metrics (inspection time and redundancy). Modeling results suggest that additional geometric details of the environmental structure should be taken into account for improving prediction accuracy and that the proposed control solution can be further optimized without changing its underlying architecture. |
N. Correll; A. Martinoli Modeling and Optimization of a Swarm-Intelligent Inspection System Inproceedings In: Distributed Autonomous Robotic Systems, pp. 369–378, Springer Distributed Autonomous Robotic Systems (2007), Toulouse, France, 2004. @inproceedings{correlldars04, title = {Modeling and Optimization of a Swarm-Intelligent Inspection System}, author = {N. Correll and A. Martinoli}, url = {http://www.springerlink.com/content/l76403m146608090/}, year = {2004}, date = {2004-01-01}, booktitle = {Distributed Autonomous Robotic Systems}, pages = {369--378}, publisher = {Springer Distributed Autonomous Robotic Systems (2007)}, address = {Toulouse, France}, abstract = {We present a simple, behavior-based, distributed control algorithm to inspect a regular structure with a swarm of autonomous, miniature robots, using only on-board, local sensors. To estimate intrinsic advantages and limitations of the proposed control solution, we capture its characteristics at a higher abstraction level using non-spatial probabilistic microscopic and macroscopic models. Both models achieve consistent prediction on the chosen swarm metric and deliver a series of interesting qualitative and quantitative insights on further, counterintuitive, improvement of the distributed control algorithm. Modeling results were validated by experiments with one to twenty robots using a realistic simulator in the framework of a case study concerned with the inspection of a jet turbine.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } We present a simple, behavior-based, distributed control algorithm to inspect a regular structure with a swarm of autonomous, miniature robots, using only on-board, local sensors. To estimate intrinsic advantages and limitations of the proposed control solution, we capture its characteristics at a higher abstraction level using non-spatial probabilistic microscopic and macroscopic models. Both models achieve consistent prediction on the chosen swarm metric and deliver a series of interesting qualitative and quantitative insights on further, counterintuitive, improvement of the distributed control algorithm. Modeling results were validated by experiments with one to twenty robots using a realistic simulator in the framework of a case study concerned with the inspection of a jet turbine. |
0000 |
J. Klingner, N. Ahmed; N. Correll Fault-Tolerant Covariance Intersection for Localizing Robot Swarm Journal Article Forthcoming In: Robotics & Autonomous Systems, Forthcoming. @article{klingner2019, title = {Fault-Tolerant Covariance Intersection for Localizing Robot Swarm}, author = {J. Klingner, N. Ahmed and N. Correll}, editor = {Jun Ota}, journal = {Robotics & Autonomous Systems}, keywords = {}, pubstate = {forthcoming}, tppubtype = {article} } |
