Distributed Autonomous Robotic Systems (Frontmatter Pages)

Springer Tracts in Advanced Robotics 83

Editors

Prof. Bruno SicilianoDipartimento di Informaticae SistemisticaUniversità di Napoli Federico IIVia Claudio 21, 80125 NapoliItalyE-mail: [email protected]

Prof. Oussama KhatibArtificial Intelligence LaboratoryDepartment of Computer ScienceStanford UniversityStanford, CA 94305-9010USAE-mail: [email protected]

For further volumes:http://www.springer.com/series/5208

Editorial Advisory Board

Oliver Brock, TU Berlin, GermanyHerman Bruyninckx, KU Leuven, BelgiumRaja Chatila, LAAS, FranceHenrik Christensen, Georgia Tech, USAPeter Corke, Queensland Univ. Technology, AustraliaPaolo Dario, Scuola S. Anna Pisa, ItalyRüdiger Dillmann, Univ. Karlsruhe, GermanyKen Goldberg, UC Berkeley, USAJohn Hollerbach, Univ. Utah, USAMakoto Kaneko, Osaka Univ., JapanLydia Kavraki, Rice Univ., USAVijay Kumar, Univ. Pennsylvania, USASukhan Lee, Sungkyunkwan Univ., KoreaFrank Park, Seoul National Univ., KoreaTim Salcudean, Univ. British Columbia, CanadaRoland Siegwart, ETH Zurich, SwitzerlandGaurav Sukhatme, Univ. Southern California, USASebastian Thrun, Stanford Univ., USAYangsheng Xu, Chinese Univ. Hong Kong, PRCShin’ichi Yuta, Tsukuba Univ., Japan

STAR (Springer Tracts in Advanced Robotics) has been promoted un-der the auspices of EURON (European Robotics Research Network)

ROBOTICSResearch

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European

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Alcherio Martinoli, Francesco Mondada,Nikolaus Correll, Grégory Mermoud,Magnus Egerstedt, M. Ani Hsieh,Lynne E. Parker, and Kasper Støy (Eds.)

Distributed AutonomousRobotic Systems

The 10th International Symposium

ABC

EditorsProf. Alcherio MartinoliEPFL ENAC IIE DISALLausanneSwitzerland

Dr. Francesco MondadaEPFL STI IMT LSROLausanneSwitzerland

Prof. Nikolaus CorrellDepartment of Computer ScienceUniversity of Colorado at BoulderBoulder, ColoradoUSA

Dr. Grégory MermoudEPFL ENAC IIE DISALLausanneSwitzerland

Prof. Magnus EgerstedtDepartment of Electricaland Computer EngineeringGeorgia Institute of TechnologyAtlanta, GeorgiaUSA

Prof. M. Ani HsiehDepartment of Mechanical Engineeringand MechanicsDrexel UniversityPhiladelphia, PennsylvaniaUSA

Prof. Lynne E. ParkerDepartment of Electrical Engineeringand Computer ScienceUniversity of TennesseeKnoxville, TennesseeUSA

Prof. Kasper StøyMaersk Mc-Kinney Moller InstituteUniversity of Southern DenmarkOdenseDenmark

ISSN 1610-7438 e-ISSN 1610-742XISBN 978-3-642-32722-3 e-ISBN 978-3-642-32723-0DOI 10.1007/978-3-642-32723-0Springer Heidelberg New York Dordrecht London

Library of Congress Control Number: 2012946355

c© Springer-Verlag Berlin Heidelberg 2013This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part ofthe material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation,broadcasting, reproduction on microfilms or in any other physical way, and transmission or informationstorage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodologynow known or hereafter developed. Exempted from this legal reservation are brief excerpts in connectionwith reviews or scholarly analysis or material supplied specifically for the purpose of being enteredand executed on a computer system, for exclusive use by the purchaser of the work. Duplication ofthis publication or parts thereof is permitted only under the provisions of the Copyright Law of thePublisher’s location, in its current version, and permission for use must always be obtained from Springer.Permissions for use may be obtained through RightsLink at the Copyright Clearance Center. Violationsare liable to prosecution under the respective Copyright Law.The use of general descriptive names, registered names, trademarks, service marks, etc. in this publicationdoes not imply, even in the absence of a specific statement, that such names are exempt from the relevantprotective laws and regulations and therefore free for general use.While the advice and information in this book are believed to be true and accurate at the date of pub-lication, neither the authors nor the editors nor the publisher can accept any legal responsibility for anyerrors or omissions that may be made. The publisher makes no warranty, express or implied, with respectto the material contained herein.

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Foreword

Robotics is undergoing a major transformation in scope and dimension. From alargely dominant industrial focus, robotics is rapidly expanding into human envi-ronments and vigorously engaged in its new challenges. Interacting with, assisting,serving, and exploring with humans, the emerging robots will increasingly touchpeople and their lives.

Beyond its impact on physical robots, the body of knowledge robotics has pro-duced is revealing a much wider range of applications reaching across diverseresearch areas and scientific disciplines, such as: biomechanics, haptics, neuro-sciences, virtual simulation, animation, surgery, and sensor networks among others.In return, the challenges of the new emerging areas are proving an abundant sourceof stimulation and insights for the field of robotics. It is indeed at the intersection ofdisciplines that the most striking advances happen.

The Springer Tracts in Advanced Robotics (STAR) is devoted to bringing to theresearch community the latest advances in the robotics field on the basis of theirsignificance and quality. Through a wide and timely dissemination of critical re-search developments in robotics, our objective with this series is to promote moreexchanges and collaborations among the researchers in the community and con-tribute to further advancements in this rapidly growing field.

DARS is a well-established single-track conference that gathers every two yearsthe main researchers in Distributed Autonomous Robotic Systems. The papers fromthe last four editions have been published as edited collections by Springer. STARis proud to welcome the Tenth edition of DARS among the volumes resulting fromthematic symposia devoted to excellence in robotics research.

The volume edited by Alcherio Martinoli, Francesco Mondada, NikolausCorrell, Gregory Mermoud, Magnus Egerstedt, M. Ani Hsieh, Lynne E. Parker andKasper Støy offers in its forty-three chapters an interdisciplinary collection of tech-nologies, algorithms, system architectures, and applications of advanced distributedrobotic systems. The contents are effectively grouped into four thematic parts, each

VI Foreword

introduced by an invited contribution by a world-renowned scholar in the field: PartI on distributed sensing, Part II on localization, navigation, and formations, Part IIIon coordination algorithms and formal methods, Part IV on modularity, distributedmanipulation, and platforms.

Rich by topics and authoritative contributors, DARS culminates with this uniquereference on the current developments and new directions in the field of distributedautonomous robotic systems. A very fine addition to the series!

Naples, Italy Bruno SicilianoJuly 2012 STAR Editor

Preface

The goal of the Symposium on Distributed Autonomous Robotic Systems (DARS)is to exchange and stimulate research ideas to realize advanced distributed roboticsystems. Distributed robotics is a rapidly growing, interdisciplinary research arealying at the intersection of computer science, communication and control systems,and electrical and mechanical engineering. Technologies, algorithms, system archi-tectures, and applications were presented and discussed during a single-track, 3-day symposium. The 10th edition of DARS took place at the Ecole PolytechniqueFederale de Lausanne (EPFL), in its idyllic location on the shores of Lake Geneva,Switzerland. The symposium also included a great social event in the Lavaux, aUNESCO World Heritage Site, immersed in the beautiful fall colors, just at theend of the grape harvesting period. More details and pictures can be found onhttp://dars2010.epfl.ch.

DARS 2010 has been an excellent 10th anniversary edition thanks to the highquality of the submissions and selective reviewing process. We received a total of75 submissions; 30 contributions were presented both orally and as a poster, while13 uniquely as poster. Each submitted paper was reviewed by at least three reviewersand a technical program co-chair. The editors of this book—four technical programco-chairs (Magnus Egerstedt, M. Ani Hsieh, Lynne E. Parker, and Kasper Støy), twopublication co-chairs (Gregory Mermoud and Nikolaus Correll), and two generalco-chairs (Alcherio Martinoli and Francesco Mondada)—coordinated the reviewprocess with the help of the 99 members of the program committee. We are verygrateful to all the reviewers and technical program co-chairs for their thoroughnessand constructivism in reviewing the papers. All the accepted papers, including thosepresented only as poster, were included in the digital pre-proceedings distributed atthe event and conditionally accepted for inclusion in this STAR volume, contingentto both presentation of the work at the symposium and proper addressing of the re-viewers’ and technical co-chairs’ remarks. To this purpose authors were encouragedto submit a revised version after the conference together with a cover letter explain-ing how the reviewers’ criticism was addressed. We noticed a drastic improvementin the quality of contributions due to the introduction of this second post-conference

VIII Preface

quality control checkpoint; only a few authors were encouraged to take into ac-count final minor suggestions and eventually all the revised papers were acceptedin this volume. The overall collection consists therefore of 43 original contributionswhich are organized in four different parts, each introduced by a different technicalprogram co-chair: distributed sensing (Part I); localization, navigation, and forma-tions (Part II); coordination algorithms and formal methods (Part III); modularity,distributed manipulation, and platforms (Part IV). We feel that this breakdown isindeed representative of the current research activities in distributed robotics and iscoarse enough to remain valid over the next few years.

The program of DARS 2010 included several invited keynote talks by world-renowned speakers representing well the four areas of distributed robotics men-tioned above: Gaurav S. Sukhatme, University of Southern California for Part I;Raffaello D’Andrea, ETH Zurich and Kiva Systems for Part II; Radhika Nagpal,Harvard University for Part III; and Haruhisa Kurokawa, AIST for Part IV. We in-clude in this volume abstracts and bio-sketches for each invited contribution andspeaker, respectively.

DARS 2010 distributed two awards, one for the best student contribution andone for overall best contribution, co-sponsored by the DARS 2008 organizing com-mittee, represented by Haruhisa Kurokawa at the symposium. The award panel waschaired by Hajime Asama (Tokyo University) and included Alan Winfield (Univer-sity of West England), Radhika Nagpal (Harvard University), Haruhisa Kurokawa(AIST), James McLurkin (Rice University), and Magnus Egerstedt (Georgia Insti-tute of Technology). The award selection process took into account various fac-tors, including the reviewers’ score, the revised contribution included in the digitalpre-proceedings, the presentation, and related discussion at the symposium. TheBest Paper Award was assigned to T.W. Mather, C. Braun and M.A. Hsieh(Drexel University) for their paper entitled “Distributed Filtering for Time-DelayedDeployment to Multiple Sites”. The Best Student Paper Award was shared by twocontributions, namely that of D. Mellinger, M. Shomin, N. Michael and V. Kumar(University of Pennsylvania) entitled “Cooperative Grasping and Transport usingMultiple Quadrotors” and that of Y. Chen, X. C. Ding, A. Stefanescu and C. Belta(Boston University) entitled “A Formal Approach to Deployment of Robotic Teamsin an Urban-Like Environment”.

Last but not least, we would like to acknowledge the support of our partners inhosting DARS 2010. The Swiss National Science Foundation, the Swiss NationalCenter for Competence in Research for Mobile Information and CommunicationSystems, the Swiss National Center for Competence in Research for Robotics, theInstitute of Environmental Engineering at EPFL, and all of our industrial partners(BlueBotics SA, Cyberbotics S.a.r.l, GCtronic S.a.r.l, K-Team SA, and SkybotixS.a.r.l,) have financially co-sponsored the symposium, while the IEEE Robotics andAutomation Society has been involved as technical co-sponsor. We would also liketo thank the Editor-in-Chief of the STAR series, Bruno Siciliano, as well as ThomasDitzinger, responsible coordinator of the series representing Springer Verlag, foraffording us the opportunity to publish for the first time the proceedings of a DARSsymposium in such prestigious venue. Finally, the symposium would not have been

Preface IX

possible without the hard work of a wonderful local organization team consistingof enthusiastic administrative assistants, PhD students, and research collaborators(see the DARS 2010 website for names and pictures).

We hope that this STAR volume will raise the same excitement and livelydiscussions that characterized the DARS 2010 symposium!

Lausanne, Switzerland Alcherio MartinoliJune 11, 2012 Francesco Mondada

Nikolaus CorrellGregory Mermoud

Invited Keynote Presentations

Termites, Starfish, and Robot CollectivesRadhika Nagpal Harvard University, USA

Abstract. Biological systems, from embryos to social insects, get tremendousmileage by having vast numbers of cheap and unreliable individuals cooperate toachieve complex goals. We are also rapidly building new kinds of distributed sys-tems with similar characteristics, from multi-modular robots and robot swarms, tovast sensor networks. Can we engineer collective systems to achieve the kind ofcomplexity and self-repair that nature seems to achieve? In this talk, I will describeseveral ongoing projects from my group where we use inspiration from nature –termites, starfish, and cells – to design collective robotic systems. For example, sim-ple mobile robots that collectively build structures without explicit communication,self-adaptive modular robots that respond to the environment, and low-cost swarmrobots that could self-assemble large-scale shapes. In each case, we use inspirationfrom biology to design simple decentralized cooperation, and techniques from com-puter science to analyze and generalize these algorithms to new tasks. A commontheme in all of our work is understanding self-organizing multi-agent systems: howdoes robust collective behavior arise from many locally interacting agents, and howcan we systematically program simple agents to achieve the global behaviors wewant.

Biography. Radhika Nagpal is a Professor of Computer Science at HarvardUniversity. She received her PhD degree in Computer Science from MIT, and spenta year as a research fellow at Harvard Medical School. She is a recipient of the2005 Microsoft New Faculty Fellowship award, the 2007 NSF Career award andthe 2010 Borg Early Career Award. Her research interests are biologically-inspiredengineering principles for multi-agent systems and computational models multicel-lular biology.

XII Invited Keynote Presentations

Some Applications of Distributed Estimation and ControlRaffaello D’Andrea ETH Zurich, Switzerland and Kiva Systems, USA

Abstract. In this talk I will discuss several applications of distributed estimationand control: Kiva Systems, a company that uses hundreds of mobile robots to moveinventory in distribution facilities; the Balancing Cube, a structure that can balanceon any one of its edges or corners using six rotating mechanisms on the cube’s in-ner faces; the Distributed Flight Array, a flying platform consisting of multiple au-tonomous single propeller vehicles that are able to drive, dock with their peers, andfly in a coordinated fashion; the Flying Machine Arena, a research-driven airspacewhere vehicles teach themselves – and each other – how to fly.

Biography. Raffaello D’Andrea is Professor of Dynamic Systems and Control atETH Zurich and Technical Co-Founder of Kiva Systems, a company that developsadaptive and self-configuring warehouse automation systems using hundreds of net-worked, mobile robots. Also a creator of dynamic sculpture, he has shown his workat international venues including the Venice Biennale, the Luminato Festival, ArsElectronica, and ideaCity; two of his pieces are in the permanent collection of theNational Gallery of Canada.

Survey of Modular Robotics as DARS ResearchHaruhisa Kurokawa AIST, Japan

Abstract. Modular robotics has been widely researched over the past 20 years.Modular robots, especially self-reconfigurable ones, have many research topics incommon with other research of DARS. Currently, however, most of the claimedprospects seem unfinished dreams. For example, only simple scalability has beenobtained. Scalability and fault tolerance is far more difficult to attain by a physi-cal system than an information system, and simple and quantitative scalability, evenif attained, will not lead to qualitative one enabling graceful degradation. Joiningforces of multiple modules is another difficult problem, though such an ability isindispensable to most robots. Applications of modular robots, especially of lattice-type systems, have not been clear. Endoluminal inspection and surgery will be agood application, but centralized or manual control is better suited for such. The his-tory of modular robotics, with achievements and problems, can anyhow contributeto future DARS research such as in micro or nano scale, and the research, mainlyours, is surveyed in this talk.

Biography. Haruhisa Kurokawa received M.E. in Precision Machinery Engineer-ing in 1981, and Dr. degree in Aeronautical and Astronautical Engineering in 1997,both from the University of Tokyo. He is currently Senior Researcher of the FieldRobotics Research Group, Intelligent Systems Institute, National Institute of Ad-vanced Industrial Science and Technology (AIST), Japan. He served as the generalchair of DARS 2008. His main research subjects are kinematics of mechanisms,control in space, distributed autonomous systems and nonlinear control.

Invited Keynote Presentations XIII

Monitoring the Coastal Ocean using Underwater Networked Robots:Algorithms and ExperimentsGaurav S. Sukhatme University of Southern California, USA

Abstract. We describe recent progress in systems and algorithms for underwaterrobots with applications to the monitoring of the coastal ocean. We describe a newalgorithm for area coverage with a strong theoretical guarantee and a data fusionmethod for a communication-constrained underwater multi-robot system. Experi-mental results from sea trials ( 6 weeks) will be presented. We also give a briefoverview of the underlying systems infrastructure that we have built to support theexperiments and field trials.

Biography. Gaurav S. Sukhatme is a Professor of Computer Science (joint appoint-ment in Electrical Engineering) at the University of Southern California (USC). Hereceived his undergraduate education at IIT Bombay in Computer Science and En-gineering, and M.S. and Ph.D. degrees in Computer Science from USC. He is theco-director of the USC Robotics Research Laboratory and the director of the USCRobotic Embedded Systems Laboratory which he founded in 2000. His researchinterests are in multi-robot systems, robot networks and aquatic robots. He has pub-lished over 200 papers in these and related areas. Sukhatme has served as PI on nu-merous NSF, DARPA and NASA grants. He is a Co-PI on the Center for EmbeddedNetworked Sensing (CENS), an NSF Science and Technology Center. He is a seniormember of the IEEE, and a member of AAAI and the ACM. He is a recipient of theNSF CAREER award and the Okawa foundation research award. He has served onmany conference program committees, and is one of the founders of the Robotics:Science and Systems (RSS) conference. He was one of the program chairs of the2008 IEEE International Conference on Robotics and Automation (ICRA) and isthe program chair of the 2010 IEEE/RSJ Intelligent Robots and Systems (IROS)conference. He is the Editor-in-Chief of Autonomous Robots. He has served as As-sociate Editor of the IEEE Transactions on Robotics and Automation, the IEEETransactions on Mobile Computing, and on the editorial board of IEEE PervasiveComputing.

Program Committee

Francesco Amigoni Politecnico di Milano, ItalyMarcelo Ang National University of SingaporeRonald Arkin Georgia Institute of Technology, Atlanta, USAFilippo Arrichiello Universita degli Studi di Cassino, ItalyMinoru Asada Osaka University, JapanHajime Asama University of Tokyo, JapanJacob Beal BBN Technologies, Cambridge, USACalin Belta Boston University, USAGerardo Beni University of California, Riverside, USASarah Bergbreiter University of Maryland, College Park, USASpring Berman Harvard University, Boston, USAAndreas Birk Jacobs University, Bremen, GermanyTim Bretl University of Illinois at Urbana Champaign, USAMathias Broxvall University of Orebro, SwedenWolfram Burgard Albert-Ludwigs-Universitat Freiburg, GermanyZack Butler Rochester Institute of Technology, USARaja Chatila Laboratoire d’Architecture et d’Analyse des

Systemes, CNRS, FranceGreg Chirikjian Johns Hopkins University, Baltimore, USAAnders Lyhne Christensen Lisbon University Institute, PortugalHenrik Christensen Georgia Institute of Technology, Atlanta, USATimothy Chung Naval Postgraduate School, Monterey, USANikolaus Correll University of Colorado, Boulder, USAJorge Cortes University of California, San Diego, USARaffaello D’Andrea ETH Zurich, SwitzerlandPrithviraj Dasgupta University of Nebraska, Omaha, USACarrick Detweiler University of Nebraska at Lincoln, USAM. Bernardine Dias Carnegie Mellon University, Pittsburgh, USA

XVI Program Committee

Marco Dorigo Universite Libre de Bruxelles, BelgiumMagnus Egerstedt Georgia Institute of Technology, Atlanta, USARiccardo Falconi Universita di Bologna, ItalyFrancesco Mondada Ecole Polytechnique Federale de Lausanne,

SwitzerlandEmilio Frazzoli Massachusetts Institute of Technology, Cambridge,

USAEric Frew University of Colorado at Boulder, Boulder, CO, USAToshio Fukuda Nagoya University, JapanLuca Gambardella IDSIA Lugano, SwitzerlandSimon Garnier Princeton University, USAAndrea Gasparri Universita degli Studi Roma Tre, ItalyVeysel Gazi TOBB Ekonomi ve Teknoloji Universitesi, Ankara,

TurkeyBrian Gerkey Willow Garage, Menlo Park, USAMaria Gini University of Minnesota, Minneapolis, USARoderich Gross University of Sheffield, UKNorihiro Hagita Advanced Telecommunications Research Institute

International, Kyoto, JapanAdam Halasz West Virginia University, Morgantown, USAHeiko Hamann University of Graz, AustriaYasuhisa Hirata Tohoku University, JapanAyanna Howard Georgia Institute of Technology, Atlanta, USAM. Ani Hsieh Drexel University, Philadelphia, USAAuke Ijspeert Ecole Polytechnique Federale de Lausanne,

SwitzerlandAkio Ishiguro Tohoku University, JapanVolkan Isler University of Minnesota, Minneapolis, USAGil Jones Willow Garage, Menlo Park, USAMichael Kaess Massachusetts Institute of Technology, Cambridge,

USASerge Kernbach Universitaet Stuttgart, GermanyChris Kitts Santa Clara University, California, USAYuichi Kobayashi Tokyo University of Agriculture and Technology,

JapanKazuhiro Kosuge Tohoku University, JapanNavinda Kottege CSIRO, Pullenvale, AustraliaRyo Kurazume Kyushu University, JapanHaruhisa Kurokawa National Institute of Advanced Science and

Technology, Tsukuba, JapanKostas Kyriakopoulos National Technical University, Athens, GreeceNaomi Leonard Princeton University, USA

Program Committee XVII

Pedro U. Lima Instituto Superior Tecnico, Lisbon, PortugalSavvas Loizou Frederick University, CyprusKevin Lynch Northwestern University, Evanston, USALino Marques University of Coimbra, PortugalAlcherio Martinoli Ecole Polytechnique Federale de Lausanne,

SwitzerlandFernando Matia Universidad Politecnica de Madrid, SpainJames Mclurkin Rice University, Houston, USAGregory Mermoud Ecole Polytechnique Federale de Lausanne,

SwitzerlandMehran Mesbahi University of Washington, Seattle, USANathan Michael University of Pennsylvania, Philadelphia, USADejan Milutinovic University of California at Santa Cruz, USANader Motee California Institute of Technology, Pasadena, USARadhika Nagpal Harvard University, Boston, USADaniele Nardi Universita La Sapienza Roma, ItalyGiuseppe Notarstefano University of Lecce, ItalyKazuhiro Ohkura Hiroshima University, JapanGiuseppe Oriolo Universita La Sapienza, Rome, ItalyJun Ota University of Tokyo, JapanStefano Panzieri Universita degli Studi Roma Tre, ItalyNikolaos Papanikolopoulos University of Minnesota, Minneapolis, USALynne E. Parker University of Tennessee, USAGuilherme Pereira Universidade Federal de Minas Gerais, BrasilSameera Poduri University of Southern California, Los Angeles, USAIoannis Rekleitis McGill University, Montreal, CanadaWei Ren Utah State University, Logan, USAPaul Rybski Carnegie Mellon University, Pittsburgh, USAAlessandro Saffiotti Orebro University, SwedenErol Sahin Middle East University, Ankara, TurkeyKetan Savla Massachusetts Institute of Technology, Cambridge,

USALuca Schenato Universita di Padova, ItalyThomas Schmickl Karl-Franzens-Universitat Graz, AustriaMac Schwager University of Pennsylvania, Philadelphia, USADylan Shell Texas A&M University, College Station, USAWei-Min Shen University of Southern California, Los Angeles, USAKasper Stoy University of Southern DenmarkKen Sugawara Tohoku Gakuin University, JapanGaurav Sukhatme University of Southern California, Los Angeles, USAGuy Theraulaz Universite Paul Sabatier and CNRS, Toulouse, France

XVIII Program Committee

Vito Trianni Istituto di Scienze e Tecnologie della Cognizione,Roma, Italy

Elio Tuci Istituto di Scienze e Tecnologie della Cognizione,Roma, Italy

Richard Vaughan Simon Fraser University, Burnaby, CanadaRichard Voyles University of Denver, Denver, USAJustin Werfel Harvard University, Boston, USAAlan F. T. Winfield University of the West of England, Bristol, UKHeinz Woern University of Karlsruhe, GermanyEiichi Yoshida Joint Japanese-French Robotics Laboratory, Toulouse,

France

Contents

Part I: Distributed Sensing

Part I: Distributed Sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3M. Ani Hsieh

Energy-Time Efficiency in Aerial Swarm Deployment . . . . . . . . . . . . . . . . 5Timothy Stirling, Dario Floreano

A Distributed, Real–Time Approach to Multi Robot UniformFrequency Coverage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19Giorgio Cannata, Antonio Sgorbissa

Connectivity Maintenance of a Heterogeneous Sensor Network . . . . . . . . 33Randy Andres Cortez, Rafael Fierro, John Wood

Multi-robot Topological Exploration Using Olfactory Cues . . . . . . . . . . . . 47Ali Marjovi, Lino Marques

Distributed Coverage and Exploration in Unknown Non-convexEnvironments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61Subhrajit Bhattacharya, Nathan Michael, Vijay Kumar

Evaluating Efficient Data Collection Algorithms for EnvironmentalSensor Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77William C. Evans, Alexander Bahr, Alcherio Martinoli

A Plume Tracking Algorithm Based on Crosswind Formations . . . . . . . . 91Thomas Lochmatter, Ebru Aydın Gol, Inaki Navarro, Alcherio Martinoli

Cooperative Distributed Object Tracking by Multiple RobotsBased on Feature Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103Takayuki Umeda, Kosuke Sekiyama, Toshio Fukuda

XX Contents

Pancakes: A Software Framework for Distributed Robot and SensorNetwork Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115Patrick Martin, Jean-Pierre de la Croix, Magnus Egerstedt

Part II: Localization, Navigation, and Formations

Part II: Localization, Navigation, and Formations . . . . . . . . . . . . . . . . . . . 131Magnus Egerstedt

Distributed Information Filters for MAV Cooperative Localization . . . . . 133Andrea Cristofaro, Alessandro Renzaglia, Agostino Martinelli

Multi-robot Map Updating in Dynamic Environments . . . . . . . . . . . . . . . . 147Fabrizio Abrate, Basilio Bona, Marina Indri, Stefano Rosa,Federico Tibaldi

Any-Com Multi-robot Path-Planning: Maximizing Collaborationfor Variable Bandwidth . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161Michael Otte, Nikolaus Correll

An Improved Particle Swarm Optimization Method for MotionPlanning of Multiple Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175Ellips Masehian, Davoud Sedighizadeh

Decentralized and Prioritized Navigation and Collision Avoidancefor Multiple Mobile Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189Giannis Roussos, Kostas J. Kyriakopoulos

Optimal Reciprocal Collision Avoidance for Multiple Non-HolonomicRobots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203Javier Alonso-Mora, Andreas Breitenmoser, Martin Rufli, Paul Beardsley,Roland Siegwart

Visual-Aided Guidance for the Maintenance of MultirobotFormations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217Patricio Nebot, Enric Cervera

Reactive Coordination and Adaptive Lattice Formation in MobileRobotic Surveillance Swarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229Robert J. Mullen, Dorothy Monekosso, Sarah Barman, Paolo Remagnino

Probabilistic Communication Based Potential Force for RobotFormations: A Practical Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243Simon Bjerg Mikkelsen, Rene Jespersen, Trung Dung Ngo

Coordinating a Group of Autonomous Robotic Floats in ShallowSeas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255Eemeli Aro, Zhongliang Hu, Mika Vainio, Aarne Halme

Contents XXI

Distributed Algebraic Connectivity Maximization for RoboticNetworks: A Heuristic Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267Andrea Simonetto, Tamas Keviczky, Robert Babuska

Beat-Based Synchronization and Steering for Groups of Fixed-WingFlying Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281Sabine Hauert, Severin Leven, Jean-Christophe Zufferey, Dario Floreano

Part III: Coordination Algorithms and Formal Methods

Part III: Coordination Algorithms and Formal Methods . . . . . . . . . . . . . . 297Lynne E. Parker

Distributed Filtering for Time-Delayed Deployment to Multiple Sites . . . 299T. William Mather, Christopher Braun, M. Ani Hsieh

A Formal Approach to Deployment of Robotic Teams in anUrban-Like Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313Yushan Chen, Xu Chu Ding, Alin Stefanescu, Calin Belta

Heuristic Planning for Decentralized MDPs with Sparse Interactions . . . 329Francisco S. Melo, Manuela Veloso

A Note on the Consensus Protocol with Some Applications to AgentOrbit Pattern Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345Panagiotis Tsiotras, Luis Ignacio Reyes Castro

Utilizing Stochastic Processes for Computing Distributions ofLarge-Size Robot Population Optimal Centralized Control . . . . . . . . . . . . 359Dejan Milutinovic

Robust Multi-robot Team Formations Using Weighted Voting Games . . . 373Prithviraj Dasgupta, Ke Cheng

Influence Maximization for Informed Agents in Collective Behavior . . . . 389Amir Asiaee Taheri, Mohammad Afshar, Masoud Asadpour

Emergence of Specialization in a Swarm of Robots . . . . . . . . . . . . . . . . . . 403Adam M. Halasz, Yanting Liang, M. Ani Hsieh, Hong-Jian Lai

Distributed Colony-Level Algorithm Switching for Robot SwarmForaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 417Nicholas Hoff, Robert Wood, Radhika Nagpal

XXII Contents

On Fault Tolerance and Scalability of Swarm Robotic Systems . . . . . . . . 431Jan Dyre Bjerknes, Alan F.T. Winfield

Hierarchical Distributed Task Allocation for Multi-robotExploration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445John Hawley, Zack Butler

Endocrine Control for Task Distribution among HeterogeneousRobots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 459Joanne H. Walker, Myra S. Wilson

Part IV: Modularity, Distributed Manipulation,and Platforms

Part IV: Modularity, Distributed Manipulation, and Platforms . . . . . . . . 475Kasper Stoy

Hierarchical Planning for Self-reconfiguring Robots Using ModuleKinematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 477Robert Fitch, Rowan McAllister

Heterogeneous Self-assembling Based on Constraint SatisfactionProblem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 491Serge Kernbach

A New Graph Signature Calculation Method Based on PowerCentrality for Modular Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 505Keyvan Golestan, Masoud Asadpour, Hadi Moradi

Sensor-Coupled Fractal Gene Regulatory Networks for LocomotionControl of a Modular Snake Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 517Payam Zahadat, David Johan Christensen, Serajeddin Katebi,Kasper Stoy

Analysis of Human Standing-Up Motion Based on Distributed MuscleControl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 531Qi An, Yusuke Ikemoto, Hajime Asama, Tamio Arai

Cooperative Grasping and Transport Using Multiple Quadrotors . . . . . . 545Daniel Mellinger, Michael Shomin, Nathan Michael, Vijay Kumar

Cooperative Transportation by Swarm Robots Using PheromoneCommunication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 559Ryusuke Fujisawa, Hikaru Imamura, Fumitoshi Matsuno

Socially-Mediated Negotiation for Obstacle Avoidance in CollectiveTransport . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 571Eliseo Ferrante, Manuele Brambilla, Mauro Birattari, Marco Dorigo

Contents XXIII

Physical Interactions in Swarm Robotics: The Hand-Bot Case Study . . . 585Michael Bonani, Philippe Retornaz, Stephane Magnenat, Hannes Bleuler,Francesco Mondada

A Low-Cost Multi-robot System for Research, Teaching,and Outreach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 597James McLurkin, Andrew J. Lynch, Scott Rixner, Thomas W. Barr,Alvin Chou, Kathleen Foster, Siegfried Bilstein

Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 611