Eric T. Matson

Ubiquitous robotics: Recent challenges and future trends

Ambient intelligence, ubiquitous and networked robots, and cloud robotics are new research hot topics that have started to gain popularity among the robotics community. They enable robots to acquire richer functionalities and open the way for the composition of a variety of robotic services with three functions: semantic perception, reasoning and actuation. Ubiquitous robots (ubirobots) overcome the limitations of stand-alone robots by integrating them with web services and ambient intelligence technologies. The overlap that exists now between ubirobots and ambient intelligence makes their integration worthwhile. It targets to create a hybrid physical-digital space rich with a myriad of proactive intelligent services that enhance the quality and the way of our living and working. Furthermore, the emergence of cloud computing initiates the massive use of a new generation of ubirobots that enrich their cognitive capabilities and share their knowledge by connecting themselves to cloud infrastructures. The future of ubirobots will certainly be open to an unlimited space of applications such as physical and virtual companions assisting people in their daily living, ubirobots that are able to co-work alongside people and cooperate with them in the same environment, and physical and virtual autonomic guards that are able to protect people, monitor their security and safety, and rescue them in indoor and outdoor spaces. This paper introduces the recent challenges and future trends on these topics.

A natural language exchange model for enabling human, agent, robot and machine interaction

Models of communications in heterogeneous systems support exchange between agents of different types. A key component is making the heterogeneous agents appear indistinguishable to and from each other in terms of language, to normalize communication. A goal is to act as an open system, where the agents can come and exit as needed by the requirements of the overall goal of the system. The main goal of this research is the creation of a communicative model to support interaction, organization and collective intelligence features between a heterogeneous set of agents as machines, robots, software agents, and humans, all working in a cooperative organization. Communication appears as a natural language interface between all agents to enable clear, indistinguishable communication between all within the organization.

M2M infrastructure to integrate humans, agents and robots into collectives

Organizations are pervasive in all aspects of human society. Most large-scale goals are carried out through the cooperation of a group of humans typically working with technologies such as robots and machines. The main goal of this research is the creation of a model and architecture to support networking, communication, interaction, organization and collective intelligence features between machines, robots, software agents, and humans. The model will allow each of these actors to cooperatively work together to accomplish large-scale goals. While machines, robots, software agents and humans are very different in their capabilities, embodiment and inherent behaviors, a core goal is to make them indistinguishable in terms of acting in an organization. When a robot communicates to another actor, it is not concerned with the physical makeup of that actor, only in its ability to solve a goal or execute a task. The goal of indistinguishable actors is not at the level of a Turing test, it gives the organization the flexibility to act as an open system, where the actors can come and exit as needed by the requirements of the overall goal set.

Enabling intra-robotic capabilities adaptation using an organization-based multiagent system

In harsh or dangerous environments, robots can lose function in multiple sensors and effectors over the mission, thus reducing their overall capability. If the capabilities provided by these sensors/effectors are necessary for mission completion, having an adaptive system that can overcome these losses is critical to mission accomplishment. In this paper, we propose a solution using multiple agents, organized as a team, to give robots the ability to adapt and overcome sensor/effector loss. When a sensor/effector is lost, the team can reorganize to provide the robot highest operational utility, given its current capabilities. The robot can adapt to such losses by substituting other sets of sensors/effectors to provide the best overall capability. While the robot may operate at a lower level of effectiveness, it will be able continue its mission, if possible.

Exploiting Agent Oriented Software Engineering in Cooperative Robotics Search and Rescue

This paper reports our progress in applying multiagent systems analysis and design in the area of cooperative robotics. In this paper, we apply the Multiagent Systems Engineering (MaSE) methodology to design a team of autonomous, heterogeneous search and rescue robots. MaSE provides a top-down approach to building cooperative robotic systems instead of the bottom-up approach employed in most robotic implementations. We follow the MaSE steps and discuss various approaches and their impact on the final system design.

Using Mobile Robots to Establish Mobile Wireless Mesh Networks and Increase Network Throughput

We discuss the proof of concept that gives mobile robotic units the ability to provide a mobile wireless mesh network providing wireless service to end-clients and also demonstrate the ability to increase the throughput of this mobile wireless mesh system by autonomously reducing the hop count required for network traffic to transit through. In doing so, this proof-of-concept contributes to future development of a robust system which can be deployed and utilized in different situations and industry.

Implementing HARMS-based indistinguishability in ubiquitous robot organizations

As robots become more pervasive and ubiquitous in the lives of humans, they become increasingly involved in every aspect of the lives of humans. People expect that robots will take on tasks to simplify our lives, by working with humans just as other humans do, in normal organizations and societies. This labor specialization, by ubiquitous robots, allows humans more comfort, time or focus to concentrate on higher level desires or tasks. To further this unification of relationships, the defined line between humans and other robots must become somewhat indistinguishable. This ever increasing degree of indistinguishability provides that we care less about who or what executes a task or solves a goal, as long as that entity is capable and available. In this paper, we propose a model and a simple example implementation which minimizes the strict line between humans, software agents, robots, machines and sensors (HARMS) and reduces the distinguishability between these actors.

Self-orientation of directional antennas, assisted by mobile robots, for receiving the best wireless signal strength

In our previous work, we presented autonomous, self-organizing wireless networks using multiple mobile robots, which enabled the desired wireless coverage in the form of a mesh network and a point-to-point network. Capacities to cover the desired area using multiple robots, all carrying omnidirectional antennas, were demonstrated. However, the use of omnidirectional antennas did not prove effective in covering a sufficiently large distance. Hence, in this paper, we introduce the use of directional antennas to increase the range of the wireless network, and later apply this concept to extending a wireless network over complex terrain. As the first step to using directional antennas, we will present a pattern-based search algorithm to address the problem of self-orientation of a Directional Wireless Network (DWN). The algorithm will find the orientation of antennas that enables them to receive the best possible Received Signal Strength Indication (RSSI). Preliminary experimental results will be shown that demonstrate the ability of the algorithm, assisted by mobile robots with pan-tilt devices for the antennas, to automatically find the maximum RSSI available. Finally, we will conclude with a discussion of findings from this paper and applications of the use of directional antennas.

An organization-based adaptive information system for battlefield situational analysis

On the field of battle, it is crucial to retrieve a continual flow of information necessary to achieve information superiority. Sensors used to provide the information streams can be lost due to dangerous conditions. We show how the combination of adaptive information systems and organizational models create a flexible agent system capable of overcoming sensor incapacitation or loss within a battlefield scenario.

Wireless Sensor Network and Big Data in Cooperative Fire Security system using HARMS

Growing population and shortage of land in urban areas led to development of tall buildings. Tall buildings have advantages and at the same time disadvantages. One of the disadvantages is that they are not fully safe in fire situations, because fire trucks cannot reach them. Fire danger can be prevented and eliminated if it is detected early. Implementing WSN (Wireless Sensor Network) and Big Data and collecting-sending data to other members of Cooperative Fire Security System using Human Agent Robot Machine Sensor (CFS2H) messaging protocol establishes faster communication and collaboration among all the members of the whole system. The stationary WSN generates and analyzes the data and wirelessly communicates with other members of the system. Big Data is the central data manipulating center which communicates with all the system members and controls the whole system work. This paper presents detailed implementation and application of WSN and Big Data in cooperative firefighting system.