Cooperative multi-robot systems

Our long-term goal is to develop a comprehensive robot architecture for multi robot systems that allows a wide variety of cooperation schemes.

In this context, we have proposed various contributions, which renew and extend our activities in this area.

From a more general point of view, we have been working on a "plan manager", a component that provides the services needed to build, update and execute plans in a multi-robot context.. It relies on the definition of a plan model and a set of operations on plans abstracted from various contributions to multi-robot planning. An execution scheme for this plan model, based on a plan modification tool has been developed and can be used to integrate various plan-based negotiation protocols.

The particular case of UAV formation flight has been studied. Here, a set of UAVs must traverse an area while avoiding various threats. Each UAV is endowed with a single threat protection system, and the formation must be continuously updated so that the UAVs protect themselves.

Relevant papers

S. JOYEUX , R.ALAMI , S.LACROIX , R.PHILIPPSEN, A plan manager for multi-robot systems. International Journal of Robotics Research, Vol.28, N°2, pp.220-240, Février 2009

R.ALAMI, Multi-robot Cooperation : Architectures and Paradigms. JNRR'05 - Journées nationales de la recherche en robotique, Guidel (France), 5-7 Octobre 2005

J.GANCET , G.HATTENBERGER , R.ALAMI , S.LACROIX, Task planning and control for a multi-UAV system: architecture and algorithms. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2005), Edmonton (Canada), 2-6 Août 2005, pp.1664-1669

A.OLLERO , S.LACROIX , L.MERINO , J.GANCET , J.WIKLUND , V.REMUSS , I.VEIGA PEREZ , L.G.GUTIERREZ , D.X.VIEGAS , A.MALLET , R.ALAMI , R.CHATILA , G.HOMMEL , F.J.COLMENERO LECHUGA , B.C.ARRUE , J.FERRUZ , J.RAMIRO MARTINEZ-DE DIOS , F.CABALLERO , M.GONZALEZ BENITEZ, Multiple eyes in the skies. IEEE Robotics & Automation Magazine, Vol.12, N°2, pp.46-57, Juin 2005

T.LEMAIRE , R.ALAMI , S.LACROIX, A distributed tasks allocation scheme in multi-UAV context. 2004 International Conference on Robotics and Automation (ICRA'2004), New Orleans (USA), 26 Avril 1er Mai 2004, 6p.

R.ALAMI, S.BOTELHO, “Plan-based multi-robot cooperation” M. BEETZ, J. HERTZBERG, M. GHALLAB, M.E. POLLACK, Advances in plan-based control of robotic agents. Lecture  Notes in Artificial Intelligence 2466, Springer, N˚ISBN 3-540-00168- 9, 292p., 2002

S. BOTELHO , R.ALAMI, A multi-robot cooperative task achievement system., 2000 IEEE International Conference on Robotics and Automation (ICRA'2000), San Francisco (USA), 24-28 Avril 2000, Vol.3, pp.2716-2721

R.ALAMI , S.FLEURY , M.HERRB , F.INGRAND , F.ROBERT, Multi robot cooperation in the Martha project. IEEE Robotics and Automation Magazine, Vol.5, N°1, pp.36-47, Mars 1998

Thesis

G. HATTENBERGER Vol en formation sans formation: contrôle et planification pour le vol en formation des avions sans pilote, Doctorat, Université Paul Sabatier, Toulouse, 1 janvier 2008           

S . JOYEUX Un composant logiciel pour la gestion et l'exécution de plan en robotique: application aux systèmes multi-robots, Doctorat, Université Paul Sabatier, Toulouse, 1 décembre 2007           

J. GANCET Systèmes multi-robots aériens : architecture pour la planification, la supervision et la coopération, Doctorat, Institut National Polytechnique, Toulouse, 29 septembre 2005

S. BOTELHO Une architecture décisionnelle pour la coopération multi-robotsDoctorats, Doctorat, Institut National Polytechnique, Toulouse, 14 Novembre 2000, 229p.