WP4-10 - Revision history

Alm at 10:58, 15 March 2023

2023-03-15T10:58:34Z

← Older revision		Revision as of 10:58, 15 March 2023
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	\| Parent Building block \|\| []		\| Parent Building block \|\| []
	\|-		\|-
	\| Contact \|\| ludo at almende.org		\| Contact \|\| Ludo Stellingwerff: ludo at almende.org
	\|}		\|}

Alm at 10:56, 15 March 2023

2023-03-15T10:56:33Z

← Older revision		Revision as of 10:56, 15 March 2023
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	The concept behind the Cooperative planner has been tested through the graduation work of Vibhav Kedege. He looked into the challenge of having multiple agents work on a shared goal (in this case an exploration mission). He compared the theoretical optimal global, shared information model with a model in which the agents can only communicate with physical nearby agents (=other drones) and looked at how well the reduced effectiveness can be recovered. This showcases how an inherently distributed task/mission can be achieved by cooperative drones, even without the need for global knowledge.		The concept behind the Cooperative planner has been tested through the graduation work of Vibhav Kedege. He looked into the challenge of having multiple agents work on a shared goal (in this case an exploration mission). He compared the theoretical optimal global, shared information model with a model in which the agents can only communicate with physical nearby agents (=other drones) and looked at how well the reduced effectiveness can be recovered. This showcases how an inherently distributed task/mission can be achieved by cooperative drones, even without the need for global knowledge.
	[[File: CooperativePlannerExample.png\|thumb\|upright 2\|center\|Example of cooperation between drones]]		[[File: CooperativePlannerExample.png\|thumb\|upright 2\|center\|Example of cooperation between drones]]
	You can find the thesis about this work at: [[https://repository.tudelft.nl/islandora/object/uuid:4442f8a3-29d8-463d-8b82-3a6755c37255\|Thesis on drone cooperation]]		You can find the thesis about this work at: [[https://repository.tudelft.nl/islandora/object/uuid:4442f8a3-29d8-463d-8b82-3a6755c37255 Thesis on drone cooperation]]

Alm at 10:55, 15 March 2023

2023-03-15T10:55:01Z

← Older revision		Revision as of 10:55, 15 March 2023
Line 36:		Line 36:
	The concept behind the Cooperative planner has been tested through the graduation work of Vibhav Kedege. He looked into the challenge of having multiple agents work on a shared goal (in this case an exploration mission). He compared the theoretical optimal global, shared information model with a model in which the agents can only communicate with physical nearby agents (=other drones) and looked at how well the reduced effectiveness can be recovered. This showcases how an inherently distributed task/mission can be achieved by cooperative drones, even without the need for global knowledge.		The concept behind the Cooperative planner has been tested through the graduation work of Vibhav Kedege. He looked into the challenge of having multiple agents work on a shared goal (in this case an exploration mission). He compared the theoretical optimal global, shared information model with a model in which the agents can only communicate with physical nearby agents (=other drones) and looked at how well the reduced effectiveness can be recovered. This showcases how an inherently distributed task/mission can be achieved by cooperative drones, even without the need for global knowledge.
	[[File: CooperativePlannerExample.png\|thumb\|upright 2\|center\|Example of cooperation between drones]]		[[File: CooperativePlannerExample.png\|thumb\|upright 2\|center\|Example of cooperation between drones]]
			You can find the thesis about this work at: [[https://repository.tudelft.nl/islandora/object/uuid:4442f8a3-29d8-463d-8b82-3a6755c37255\|Thesis on drone cooperation]]

Alm at 10:52, 15 March 2023

2023-03-15T10:52:05Z

← Older revision		Revision as of 10:52, 15 March 2023
Line 35:		Line 35:

	The concept behind the Cooperative planner has been tested through the graduation work of Vibhav Kedege. He looked into the challenge of having multiple agents work on a shared goal (in this case an exploration mission). He compared the theoretical optimal global, shared information model with a model in which the agents can only communicate with physical nearby agents (=other drones) and looked at how well the reduced effectiveness can be recovered. This showcases how an inherently distributed task/mission can be achieved by cooperative drones, even without the need for global knowledge.		The concept behind the Cooperative planner has been tested through the graduation work of Vibhav Kedege. He looked into the challenge of having multiple agents work on a shared goal (in this case an exploration mission). He compared the theoretical optimal global, shared information model with a model in which the agents can only communicate with physical nearby agents (=other drones) and looked at how well the reduced effectiveness can be recovered. This showcases how an inherently distributed task/mission can be achieved by cooperative drones, even without the need for global knowledge.
			[[File: CooperativePlannerExample.png\|thumb\|upright 2\|center\|Example of cooperation between drones]]

Alm: Add some more text

2023-03-15T10:44:48Z

Add some more text

← Older revision		Revision as of 10:44, 15 March 2023
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	==Validation==		==Validation==

			The concept behind the Cooperative planner has been tested through the graduation work of Vibhav Kedege. He looked into the challenge of having multiple agents work on a shared goal (in this case an exploration mission). He compared the theoretical optimal global, shared information model with a model in which the agents can only communicate with physical nearby agents (=other drones) and looked at how well the reduced effectiveness can be recovered. This showcases how an inherently distributed task/mission can be achieved by cooperative drones, even without the need for global knowledge.

Alm: Initial text from early deliverables, will need to be updated to final level.

2023-03-15T09:22:22Z

Initial text from early deliverables, will need to be updated to final level.

New page

==Cooperative Planner==
{|class="wikitable"
| ID|| WP4-10
|-
| Contributor || ALMENDE
|-
| Levels || Platform, Function
|-
| Require ||
|-
| Provide || Navigation goals, at Global-Planner level, shared among drones
|-
| Input || ROS TF/map data, shared among multiple robots
|-
| Output || ROS navigation goals, also shared among mutliple robots
|-
| C4D building block ||
|-
| TRL || 4
|-
| Parent Building block || []
|-
| Contact || ludo at almende.org
|}

==Description==

This component provides support for cooperation between drones and rovers, on a (global) planning level. By sharing a drone's plans, in a standardized manner, more optimal group behavior can be achieved, through a group planner component. By designing this group planner through multi-agent techniques, this planner can be distributed over multiple robots.

==Improvements==

In the research fields of game-theory, multi-agent systems, and service orchestration, several strategies for cooperation have been developed. Most of these strategies have not yet been applied within a robotic environment, nor has there been much focus on cooperating robots. An exception to this is the field of Robotic Soccer and similar competitions and challenges, which apply voting-based planning through shared playbooks and role-assignment. This component allows trying out such algorithms and strategies for any ROS-based system, by extending the navigation stack with a cooperative planner, on top of the current standard local and global planner.

==Validation==