NDLI: Forming an effective multi-robot team robust to failures

Content Provider	IEEE Xplore Digital Library
Author	Liemhetcharat, S. Veloso, M.
Copyright Year	2013
Description	Author affiliation: Sch. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA (Liemhetcharat, S.; Veloso, M.)
Abstract	We are interested in forming a multi-robot team that attains high utility at a task, and is robust to failures in the robots. We consider configurable robots that are composed of modules, e.g., motors, sensors, and actuators, where each module has an independent probability of failure. The performance of the multi-robot team at the task depends not only on how the robots in the team are composed from modules, but also the probability of failure of the selected modules. We formally define the robust team formation problem, and introduce two methods of defining the optimal team. We contribute the Robust Synergy Graph for Configurable Robots (ρ-SGraCR) model, and two team formation algorithms to find effective robust teams. The first algorithm, OptRobust, runs in exponential time and finds the optimal robust team. The second algorithm, ApproxRobust, makes assumptions about the module failures and approximates the optimal robust team, and runs in polynomial time. We demonstrate the efficacy of the ρ-SGraCR model in modeling robust team performance, and evaluate ApproxRobust and OptRobust. Finally, we apply the ρ-SGraCR model to a real robot problem in the foraging domain, and show that it outperforms competing approaches.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	5240
Ending Page	5245
File Size	854365
Page Count	6
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6697114
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robustness Robot kinematics Robot sensing systems Manganese Mobile robots Approximation algorithms
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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