Integration of cooperative mobile robots and networked sensor fusion in Safety/Security-Critical tasks

在安全/安全关键任务中集成协作移动机器人和网络传感器融合

• 批准号: 352401-2007
• 负责人: DeSilva, Clarence
• 金额: $ 5.68万
• 依托单位: University of British Columbia
• 依托单位国家: 加拿大
• 项目类别: Special Research Opportunity Program - Project
• 财政年份: 2007
• 资助国家: 加拿大
• 起止时间: 2007-01-01 至 2008-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=364223
• 关键词: Integration; cooperative; mobile; robots; networked

Several prominent US researchers have proposed research on "Engineering of Sensor Network Structure for Dependable Fusion" for the Multidisciplinary University Research Initiative (MURI) of the US Department of Defense (DoD). The US Army Research Office (ARO) has recently funded this project. The US proposal has identified Dr. Clarence de Silva of the University of British Columbia as the only Canadian collaborator of the planned research. The successful MURI application provides a unique window of opportunity for us to collaborate in this research project which is of significant mutual interest. The US researchers will primarily focus on dynamic sensor networking and information fusion in an unstructured urban environment for safety/security critical operations. Given these technologies of dynamically networked information acquisition and fusion, the proposed SRO project will concentrate on research to develop technologies for multi-robot cooperation in carrying out tasks critical for human safety/security in an unstructured urban environment. Specifically the SRO project will focus on: Behaviour-based Learning for Self-deterministic Cooperation of Robots; Use of Genetic Algorithms (GA) for Optimization of the Robotic Structure and Actions; Integration of GA with Reinforcement Learning (RL) for Generating Optimal Cooperation Policies; Use of Artificial Immune Systems (AIS) for System Robustness and Self-organization; Soft Computing and Knowledge Based Decision Making for Intelligent Control; and Integration of US-originated Research on Dynamic Sensor Networking and Fusion. The activities will involve analytical research; computer simulation; technology development and implementation in a prototype laboratory system of multiple mobile robots; integration of the physical system together with a dynamic networking topology for communication and information fusion (developed by US researchers); practical demonstration of a realistic safety/security critical activity; and system evaluation through rigorous physical testing.

美国国防部（DOD）的多学科大学研究计划（MURI）的几位著名研究人员提出了有关“可靠融合的传感器网络结构工程”的研究。美国陆军研究办公室（ARO）最近为该项目提供了资金。美国的提案已确定不列颠哥伦比亚大学的克拉伦斯·德·席尔瓦（Clarence de Silva）博士是计划研究的唯一合作者。成功的Muri应用程序为我们在该研究项目中合作提供了一个独特的机会窗口，该项目具有重大兴趣。美国研究人员将主要关注非结构化城市环境中的动态传感器网络和信息融合，以进行安全/安全关键操作。鉴于这些动态网络信息获取和融合的技术，拟议的SRO项目将集中于研究以开发多机器人合作的技术，以在非结构化的城市环境中执行对人类安全/安全至关重要的任务。特别是SRO项目将重点关注：基于行为的学习机器人合作；使用遗传算法（GA）来优化机器人结构和作用；将GA与增强学习（RL）整合在一起，以产生最佳合作政策；使用人工免疫系统（AIS）用于系统鲁棒性和自组织；智能控制的软计算和基于知识的决策；以及在动态传感器网络和融合方面进行的对US进行的研究。这些活动将涉及分析研究；计算机模拟；多个移动机器人的原型实验室系统中的技术开发和实施；将物理系统的集成以及用于通信和信息融合的动态网络拓扑（由美国研究人员开发）；实际证明了现实的安全/安全关键活动；和系统评估通过严格的物理测试。