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.

美国几位著名研究人员为美国国防部（DoD）的多学科大学研究计划（MURI）提出了“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）最近资助了该项目。美国的提案已将不列颠哥伦比亚大学的克拉伦斯·德席尔瓦博士确定为该计划研究的唯一加拿大合作者。 MURI 的成功申请为我们在这个具有重大共同利益的研究项目中进行合作提供了一个独特的机会。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，以实现安全/安保关键操作。鉴于这些动态网络信息获取和融合技术，拟议的 SRO 项目将集中研究开发多机器人合作技术，以在非结构化城市环境中执行对人类安全/保障至关重要的任务。具体来说，SRO 项目将重点关注： 基于行为的机器人自主合作学习；使用遗传算法（GA）优化机器人结构和动作；将遗传算法与强化学习（RL）相结合，生成最优合作策略；使用人工免疫系统 (AIS) 实现系统稳健性和自组织；智能控制的软计算和基于知识的决策；以及美国起源的动态传感器网络和融合研究的整合。这些活动将涉及分析研究；计算机模拟；多移动机器人原型实验室系统的技术开发和实施；将物理系统与动态网络拓扑集成在一起，以实现通信和信息融合（由美国研究人员开发）；现实安全/安保关键活动的实际演示；通过严格的物理测试进行系统评估。