Multi Robot System

system with multi robot

 

Why using MRS?

 - To perform solution with singularity. 

 - Space Distribution -> many agents can be in many places at the same time.

 - Time Distribution -> many agents can do many, different subtasks at the same time.

 - Divide and Conquer

 - Cost, Reliability, and Robustness -> agent can be a team Simpler than a single robot.

 

Multi-Robot System

Set of Robots

 - Same Environment or Common mission 

Advatnages over a single robot

 

Space and Time Distribution 

 - different location at same time

 - same location at different time

 

 

Cost issues

 - simple but many robots are cheaper than one priceless big robot

 

Reliability, Robustness

 - Simplicity increases reliability

 - Redundany benefits robustness

  - If there's some overlap on robot's capabilities, the MRS is more robust

 - Failure of any individual robot does not mean necessarily the failure of the MRS

 

 

Heterogeneous MRS

 - multimodal sensors and actuators

 

Task for MRS

 

1. inherently distributed in time, space or functionality (한개로는 못함)

2.///

 

Cooperative robots to observe moving targets.

 

Multi vs Single Robot System

1. Speedup measure [Balch & Arkin, 1998]

how more efficient i robots are than just 1?

 

Computation sharing in distributed robotic systems : A case study on Slam (2014) 

Multi-Robot olfacory search structured environments. (2011)

 

MRS는 어디에 쓰이나

Dull, Dirty, Dangerous tasks

 

Weakly coordinate

 

Explicit Communication

avoud communicating redundant information 

Avoids wasting both communication and processing....