CAREER: Environmentally-Mediated Coordination in Natural and Robot Swarms

职业：自然群体和机器人群体中环境介导的协调

• 批准号: 2042411
• 负责人: Kirstin Petersen
• 金额: $ 52.05万
• 依托单位: Cornell University
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2021
• 资助国家: 美国
• 起止时间: 2021-04-01 至 2026-03-31
• 项目状态: 未结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2042411&HistoricalAwards=false
• 关键词: CAREER; Environmentally; Mediated; Coordination; Natural

Autonomous robot swarms are becoming ubiquitous with thousands of robots and drones operating simultaneously in places from warehouses to entertainment light shows. This technological revolution makes it critical to look beyond robots working in parallel, and towards actual swarm intelligence where the whole is more than the sum of its parts. As a proof of concept, natural swarms exhibit scalable, error tolerant, and adaptive properties by integrating and propagation information into their shared environment over space and time. Adoption of these concepts in robot swarms can complement existing control architectures, and may result in systems that are less efficient than those with centralized control architectures, but are much faster and inexpensive to deploy, are resilient to individual failures, resize easier from initial to full-scale deployment, and can adapt to changing tasks or environments. Although gaining in popularity, this type of distributed coordination has many facets and is still poorly understood - especially as a design tool for engineered swarms that aim to achieve biological levels of resilience and adaptability. To address these shortcomings, this Faculty Early Career Development (CAREER) research project will extend upon the concept of environmentally-mediated coordination from working on perfect robots operating in static environments, to include dynamic environments and ways to deal with realistic bounds on error and hardware reliability. The work will result in a model of swarms in dynamic environments that act to integrate, diffuse, decay, and filter information derived from characterization of a biological model system, as well as practical robot experiments. Practical verification involves collective robotic construction, odor plume tracking by honey bees, and strain-mediated behaviors in programmable matter. This project further involves aims to secure and increase such a diverse workforce through novel methods for inclusive, shared, online robotics curricula; cross-generational outreach programs for the public; interdisciplinary student projects; and workshops for researchers across the fields of robotics, biology, and architecture.This project is supported by the cross-directorate Foundational Research in Robotics program, jointly managed and funded by the Directorates for Engineering (ENG) and Computer and Information Science and Engineering (CISE).This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

自主机器人群正变得无处不在，成千上万的机器人和无人机在从仓库到娱乐灯光秀的地方同时运行。这场技术革命使得我们必须超越机器人的并行工作，转向真正的群体智能，在那里，整体超过了部分的总和。作为概念的证明，自然群通过在空间和时间上将信息集成和传播到其共享环境中来表现出可扩展性、容错性和自适应性。在机器人群中采用这些概念可以补充现有的控制架构，并可能导致系统的效率低于集中式控制架构，但部署速度更快，成本更低，对个别故障有弹性，从初始到全面部署更容易调整，并且可以适应不断变化的任务或环境。虽然越来越受欢迎，这种类型的分布式协调有许多方面，仍然知之甚少-特别是作为一个设计工具，旨在实现生物水平的弹性和适应性的工程群体。为了解决这些缺点，该学院早期职业发展（CAREER）研究项目将扩展环境介导协调的概念，从在静态环境中工作的完美机器人，到包括动态环境和处理错误和硬件可靠性的现实界限的方法。这项工作将产生一个动态环境中的群集模型，该模型用于整合，扩散，衰减和过滤来自生物模型系统的表征以及实际机器人实验的信息。实际验证涉及集体机器人建设，气味羽流跟踪蜜蜂，和应变介导的行为在可编程的问题。 该项目进一步涉及旨在通过包容性，共享，在线机器人课程的新方法来确保和增加这样一个多元化的劳动力;跨代的公众推广计划;跨学科的学生项目;为机器人、生物学和建筑学领域的研究人员举办研讨会。该项目得到了机器人项目跨部门基础研究的支持，该奖项反映了NSF的法定使命，并通过使用基金会的知识价值和更广泛的影响审查标准进行评估，被认为值得支持。

项目成果

Harnessing Nonuniform Pressure Distributions in Soft Robotic Actuators

• DOI: 10.1002/aisy.202200330
• 发表时间: 2023-01-20
• 期刊: ADVANCED INTELLIGENT SYSTEMS
• 影响因子: 7.4
• 作者: Matia, Yoav;Kaiser, Gregory H.;Petersen, Kirstin H.
• 通讯作者: Petersen, Kirstin H.

Mobile, Inflatable Interface to Support Human Robot Interaction Studies

支持人机交互研究的移动充气界面

• DOI: 10.1109/ur52253.2021.9494648
• 发表时间: 2021
• 期刊: 18th International Conference on Ubiquitous Robots (UR
• 作者: Jaramillo, Jonathan;Lin, Andrew;Sung, Emma;Richter, Isabel Jane;Petersen, Kirstin
• 通讯作者: Petersen, Kirstin

Automated entrance monitoring of managed bumble bees

管理熊蜂的自动入口监控

• DOI: 10.1007/s10015-022-00748-9
• 发表时间: 2022
• 期刊: Artificial Life and Robotics
• 影响因子: 0.9
• 作者: Du, Jingwen;Brothers, Zach;Valdes, Leah;Napp, Nils;Petersen, Kirstin
• 通讯作者: Petersen, Kirstin

Strain-Based Consensus in Soft, Inflatable Robots

软体充气机器人中基于应变的共识

• DOI: 10.1109/robosoft54090.2022.9762180
• 发表时间: 2022
• 期刊: IEEE Intl. Conference on Soft Robotics
• 作者: Nilles, Alexandra;Ceron, Steven;Napp, Nils;Petersen, Kirstin
• 通讯作者: Petersen, Kirstin

Construction and Excavation by Collaborative Double-Tailed SAW Robots

• DOI: 10.1109/lra.2022.3146562
• 发表时间: 2022-04-01
• 期刊: IEEE ROBOTICS AND AUTOMATION LETTERS
• 影响因子: 5.2
• 作者: Huang, Luyang Robby;Zhu, Alexander;Petersen, Kirstin H.
• 通讯作者: Petersen, Kirstin H.