اشترك بالحزمة الذهبية واحصل على وصول غير محدود شمرا أكاديميا
تسجيل مستخدم جديدA Formal Framework for Mobile Robot Patrolling in Arbitrary Environments with Adversaries
137
0
0.0
(
0
)
اسأل ChatGPT حول البحث
ﻻ يوجد ملخص باللغة العربية
Using mobile robots for autonomous patrolling of environments to prevent intrusions is a topic of increasing practical relevance. One of the most challenging scientific issues is the problem of finding effective patrolling strategies that, at each time point, determine the next moves of the patrollers in order to maximize some objective function. In the very last years this problem has been addressed in a game theoretical fashion, explicitly considering the presence of an adversarial intruder. The general idea is that of modeling a patrolling situation as a game, played by the patrollers and the intruder, and of studying the equilibria of this game to derive effective patrolling strategies. In this paper we present a game theoretical formal framework for the determination of effective patrolling strategies that extends the previous proposals appeared in the literature, by considering environments with arbitrary topology and arbitrary preferences for the agents. The main original contributions of this paper are the formulation of the patrolling game for generic graph environments, an algorithm for finding a deterministic equilibrium strategy, which is a fixed path through the vertices of the graph, and an algorithm for finding a non-deterministic equilibrium strategy, which is a set of probabilities for moving between adjacent vertices of the graph. Both the algorithms are analytically studied and experimentally validated, to assess their properties and efficiency.
قيم البحث
اقرأ أيضاً
Trust and reputation models for distributed, collaborative systems have been studied and applied in several domains, in order to stimulate cooperation while preventing selfish and malicious behaviors. Nonetheless, such models have received less atten
tion in the process of specifying and analyzing formally the functionalities of the systems mentioned above. The objective of this paper is to define a process algebraic framework for the modeling of systems that use (i) trust and reputation to govern the interactions among nodes, and (ii) communication models characterized by a high level of adaptiveness and flexibility. Hence, we propose a formalism for verifying, through model checking techniques, the robustness of these systems with respect to the typical attacks conducted against webs of trust.
In this paper we present a simulation framework for the evaluation of the navigation and localization metrological performances of a robotic platform. The simulator, based on ROS (Robot Operating System) Gazebo, is targeted to a planetary-like resear
ch vehicle which allows to test various perception and navigation approaches for specific environment conditions. The possibility of simulating arbitrary sensor setups comprising cameras, LiDARs (Light Detection and Ranging) and IMUs makes Gazebo an excellent resource for rapid prototyping. In this work we evaluate a variety of open-source visual and LiDAR SLAM (Simultaneous Localization and Mapping) algorithms in a simulated Martian environment. Datasets are captured by driving the rover and recording sensors outputs as well as the ground truth for a precise performance evaluation.
Crowdsourced mobile edge caching and sharing (Crowd-MECS) is emerging as a promising content delivery paradigm by employing a large crowd of existing edge devices (EDs) to cache and share popular contents. The successful technology adoption of Crowd-
MECS relies on a comprehensive understanding of the complicated economic interactions and strategic decision-making of different stakeholders. In this paper, we focus on studying the economic and strategic interactions between one content provider (CP) and a large crowd of EDs, where the EDs can decide whether to cache and share contents for the CP, and the CP can decide to share a certain revenue with EDs as the incentive of caching and sharing contents. We formulate such an interaction as a two-stage Stackelberg game. In Stage I, the CP aims to maximize its own profit by deciding the ratio of revenue shared with EDs. In Stage II, EDs aim to maximize their own payoffs by choosing to be agents who cache and share contents, and meanwhile gain a certain revenue from the CP, or requesters who do not cache but request contents in the on-demand fashion. We first analyze the EDs best responses and prove the existence and uniqueness of the equilibrium in Stage II by using the non-atomic game theory. Then, we identify the piece-wise structure and the unimodal feature of the CPs profit function, based on which we design a tailored low-complexity one-dimensional search algorithm to achieve the optimal revenue sharing ratio for the CP in Stage I. Simulation results show that both the CPs profit and the EDs total welfare can be improved significantly (e.g., by 120% and 50%, respectively) by using the proposed Crowd-MECS, comparing with the Non-MEC system where the CP serves all EDs directly.
Robots are increasingly operating in indoor environments designed for and shared with people. However, robots working safely and autonomously in uneven and unstructured environments still face great challenges. Many modern indoor environments are des
igned with wheelchair accessibility in mind. This presents an opportunity for wheeled robots to navigate through sloped areas while avoiding staircases. In this paper, we present an integrated software and hardware system for autonomous mobile robot navigation in uneven and unstructured indoor environments. This modular and reusable software framework incorporates capabilities of perception and navigation. Our robot first builds a 3D OctoMap representation for the uneven environment with the 3D mapping using wheel odometry, 2D laser and RGB-D data. Then we project multilayer 2D occupancy maps from OctoMap to generate the the traversable map based on layer differences. The safe traversable map serves as the input for efficient autonomous navigation. Furthermore, we employ a variable step size Rapidly Exploring Random Trees that could adjust the step size automatically, eliminating tuning step sizes according to environments. We conduct extensive experiments in simulation and real-world, demonstrating the efficacy and efficiency of our system.
Over the past decades, progress in deployable autonomous flight systems has slowly stagnated. This is reflected in todays production air-crafts, where pilots only enable simple physics-based systems such as autopilot for takeoff, landing, navigation,
and terrain/traffic avoidance. Evidently, autonomy has not gained the trust of the community where higher problem complexity and cognitive workload are required. To address trust, we must revisit the process for developing autonomous capabilities: modeling and simulation. Given the prohibitive costs for live tests, we need to prototype and evaluate autonomous aerial agents in a high fidelity flight simulator with autonomous learning capabilities applicable to flight systems: such a open-source development platform is not available. As a result, we have developed GymFG: GymFG couples and extends a high fidelity, open-source flight simulator and a robust agent learning framework to facilitate learning of more complex tasks. Furthermore, we have demonstrated the use of GymFG to train an autonomous aerial agent using Imitation Learning. With GymFG, we can now deploy innovative ideas to address complex problems and build the trust necessary to move prototypes to the real-world.
سجل دخول لتتمكن من نشر تعليقات
التعليقات
جاري جلب التعليقات
سجل دخول لتتمكن من متابعة معايير البحث التي قمت باختيارها
