CRII: RI: Assignment, Routing, and Coordination of Diverse Robotic Sensors

CRII：RI：各种机器人传感器的分配、路由和协调

• 批准号: 1566247
• 负责人: Pratap Tokekar
• 金额: $ 17.5万
• 依托单位: Virginia Polytechnic Institute and State University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2016
• 资助国家: 美国
• 起止时间: 2016-04-01 至 2019-03-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1566247&HistoricalAwards=false
• 关键词: CRII; RI; Assignment; Routing; Coordination

This project studies the coordination of diverse robotic sensors by focusing on the task of observing all points in a given environment. The robots are required to visit viewpoints, such that all the viewpoints collectively observe the environment. When the number of potential viewpoints exceeds the number of robots, some robots will be required to visit and cover multiple viewpoints. Not all viewpoints are reachable from all the robots. This project introduces a novel combination of assignment and routing problems with diversity constraints. These investigations lay the foundations to achieve the overarching goal of understanding the role of diversity in robot swarms. The PI works with the Center for the Enhancement of Engineering Diversity at Virginia Tech to ensure broad outreach, in particular, to K-12 students and for promoting diversity in STEM recruitment.

本项目研究不同机器人传感器之间的协调，重点关注观察给定环境中所有点的任务。要求机器人访问视点，使所有视点共同观察环境。当潜在视点的数量超过机器人的数量时，将需要一些机器人访问并覆盖多个视点。不是所有的机器人都能到达所有的视点。这个项目引入了一种新的组合分配和路由问题的多样性约束。这些研究为实现理解多样性在机器人群体中的作用这一总体目标奠定了基础。PI与弗吉尼亚理工大学工程多样性增强中心合作，以确保广泛的推广，特别是面向K-12学生，并促进STEM招聘的多样性。

项目成果

Active target tracking with self-triggered communications

• DOI: 10.1109/icra.2017.7989244
• 发表时间: 2017-05
• 期刊: 2017 IEEE International Conference on Robotics and Automation (ICRA)
• 作者: Lifeng Zhou;Pratap Tokekar

Active Target Tracking With Self-Triggered Communications in Multi-Robot Teams

• DOI: 10.1109/tase.2018.2867189
• 发表时间: 2017-04
• 期刊: IEEE Transactions on Automation Science and Engineering
• 影响因子: 5.6
• 作者: Lifeng Zhou;Pratap Tokekar

Resilient Active Target Tracking With Multiple Robots

• DOI: 10.1109/lra.2018.2881296
• 发表时间: 2019-01-01
• 期刊: IEEE ROBOTICS AND AUTOMATION LETTERS
• 影响因子: 5.2
• 作者: Zhou, Lifeng;Tzoumas, Vasileios;Tokekar, Pratap
• 通讯作者: Tokekar, Pratap