Community Research and Development Information Service - CORDIS

FP7 RECONFIG Project logo

RECONFIG

Project reference: 600825
Funded under

Cognitive, Decentralized Coordination of Heterogeneous Multi-Robot Systems via Reconfigurable Task Planning

From 2013-03-01 to 2016-05-31, closed project

Project details

Total cost:

EUR 3 171 304

EU contribution:

EUR 2 359 993

Coordinated in:

Sweden

Call for proposal:

FP7-ICT-2011-9See other projects for this call

Funding scheme:

CP - Collaborative project (generic)
Heterogeneous multi-robot systems hold promise for achieving (a) robustness by leveraging the complementary capabilities of different agents and (b) efficiency by allowing sub-tasks to be completed by the most suitable agent. RECONFIG proposes a reconfigurable and adaptive decentralized coordination framework for a team of multi-DoF (degrees-of freedom) robots. This would allow, for example, a team of robots to individually distinguish objects in the environment, then agree that the same symbol represents the same object for each robot, then develop joint actions and change their plans accordingly.

Objective

Heterogeneous multi-robot systems hold promise for achieving robustness by leveraging on the complementary capabilities of different agents and efficiency by allowing sub-tasks to be completed by the most suitable agent. A key challenge is that agent composition in current multi-robot systems needs to be constant and pre-defined. Moreover, the coordination of heterogeneous multi-agent systems has not been considered in manipulative scenarios. We propose a reconfigurable and adaptive decentralized coordination framework for heterogeneous multiple & multi-DOF robot systems. Agent coordination is held via two types of information exchange:(i) at an implicit level, e.g.,when robots are in contact with each other and can sense the contact, and (ii) at an explicit level, using symbols grounded to each embodiment, e.g, when one robot notifies one other about the existence of an object of interest in its vicinity. The substrate of cognitive tasks will be a computer vision front-end, that will allow for the grounding and subsequent sharing of symbols between agents. In the envisioned framework coordination is decentralized and tasks are defined at the individual agent level. These tasks are then enriched during operation based on the updated knowledge that individual agents acquire through the two information exchange types. The control and planning updates take place at two levels:(i) a continuous level, where agent actions are defined by continuous feedback, e.g., change of contact point while grasping an obstacle given the contact point of another manipulator and (ii) a discrete level, where specifications are defined in terms of formal languages such as Linear Temporal Logic. The overall approach is motivated by the need for increased robustness, heterogeneity and reconfigurability in future multi-robot setups. An example scenario includes a team of robots that first individually distinguish objects in the environment and then agree that the same symbol represents the same object for each robot. They then use this information for a global objective, i.e., finding all chairs in a room full of chairs and tables and moving them to another room. As the robots obtain more information on the environment (e.g., the existence of a chair that was not spotted before) they change their controllers and plans accordingly.

Related information

Open Access

Coordinator

KUNGLIGA TEKNISKA HOEGSKOLAN
Sweden

EU contribution: EUR 894 306


OSQULDAS VÄG 10
10044 Stockholm
Sweden
Administrative contact: Dimos Dimarogonas
Tel.: +46 87907322
Fax: +4687907329
E-mail

Participants

AALTO-KORKEAKOULUSAATIO
Finland

EU contribution: EUR 570 921


OTAKAARI 1
02150 ESPOO
Finland
Administrative contact: Ville Kyrki
Tel.: +358504082035
Fax: +358947025742
E-mail
ECOLE CENTRALE DES ARTS ET MANUFACTURES
France

EU contribution: EUR 390 766


GRANDE VOIE DES VIGNES
92290 CHATENAY MALABRY
France
Administrative contact: Philippe Lezer
Tel.: +33 0141131236
Fax: +33 0141131615
E-mail
NATIONAL TECHNICAL UNIVERSITY OF ATHENS - NTUA
Greece

EU contribution: EUR 504 000


HEROON POLYTECHNIOU 9 ZOGRAPHOU CAMPUS
15780 ATHINA
Greece
Administrative contact: Georgia Mertzelou
Tel.: +302107721348
Fax: +302107724181
E-mail
Record Number: 106858 / Last updated on: 2016-04-01