Uma tendência crescente entre os pesquisadores da Robótica Móvel é a elaboração de sistemas robóticos descentralizados denominados enxames de robôs, nos quais a ação conjunta de cada agente leva à execução de tarefas de maneira mais robusta que quando realizada por um único robô. Um acréscimo adicional à robustez é conveniente em tais sistemas para que eles sejam de maior confiabilidade no mundo real. Neste trabalho, uma rede neural hierárquica desenvolvida para o aprendizado em tempo real inicialmente elaborada para o aprendizado de navegação de um único robô será estendida para controlar um enxame de robôs. O sistema realiza um balanceamento da influência de comportamentos implementados previamente em um robô de acordo com conhecimentos obtidos através da interação do mesmo com o ambiente. Cada robô possui sua própria rede neural, adquirindo seu conhecimento tanto independentemente quanto com o compartilhamento de informações com outros robôs. Espera-se que o uso de tal arquitetura permita uma adaptação mais rápida dos robôs ao ambiente, permitindo uma mudança em tempo real de seus parâmetros de acordo com as peculiaridades do ambiente no qual os robôs estão inseridos. A tarefa de escolta de um robô pelos demais é adotada para a avaliação de desempenho do modelo de rede neural proposto. Dois comportamentos são ponderados pela rede neural hierárquica: o de manutenção de uma distância preestabelecida a um agente e um outro de cobertura de área baseado em Diagramas Centroidais de Voronoi. Os testes foram feitos nos ambientes Player/Stage e indicam que a rede neural hierárquica torna os robôs capazes não apenas de aprender à medida que interagem com ambiente como de utilizar este conhecimento em tempo real para realizar a escolta de forma bem sucedida / A growing trend among Mobile Robotics researchers is developing robot swarms, in which a decentralized robot team solves tasks by combining simple behaviors. It is convenient to have mechanisms to increase a robot systems robustness. In this work, a neural network inspired in behavioral analysis is used to make robots from a swarm to learn how to act propoerly. This network combines two innate behaviors and, according to its experience, learns with the robots mistakes how to make this combination. Each robot has access to its own independent neural network, and can share its knowledge with neighboring robots. It is expected that such architecture learns by itself when to stimulate or supress each behaviors influence as it interacts with the environment. The task chosen to evaluate the proposed system is the escorting of a mobile agent. Two behaviors are balanced to achieve an escorting behavior: maintenance of a minimum distance between a robot and the escort target and an area coverage method based on Centroidal Voronoi Tessellations. Tests were meade using the Player/Stage simulator, and they show that the robots not only are capable of adapting themselves but also are able to use the stored knowledge to improve their effectiveness in doing the desired task

The region of West Bohemia/Vogtland in the Czech–German border area is well known for the repeated occurrence of earthquake swarms, CO2 emanations and mofette fields. To deepen the understanding of these phenomena local earthquake tomography of the Vp and Vp/Vs structure and attenuation tomography are carried out in this study. In comparison with previous investigations the travel time tomography revealed more details of the near-surface geology, potential fluid pathways and features around and below the swarm focal zone. In the uppermost crust, for the first time the Cheb basin and the Bublák/Hartoušov mofette fields were imaged as distinct anomalies of Vp and Vp/Vs. The well-pronounced low-Vp anomaly of the Cheb basin is not continuing into the Eger rift indicating a particular role of the basin within the rift system. A steep channel of increased Vp/Vs is interpreted as the pathway for fluids ascending from the earthquake swarm focal zone up to the Bublák/Hartoušov mofette fields. As a new feature, a mid-crustal body of high Vp and increased Vp/Vs is revealed just below and north of the earthquake swarm focal zone. It may represent a solidified intrusive body which emplaced prior or during the formation of the rift system. The enhanced fluid flow into the focal zone and triggering of earthquakes could be driven by the presence of the intrusive body if cooling is not fully completed. The assumed intrusive structure is considered as a heterogeneity leading to higher stress particularly at the junction of the rift system with the basin and prominent fault structures. This may additionally contribute to the triggering of earthquakes. The three-dimensional (3-D) P-wave attenuation (Qp) model for West Bohemia is the first of its kind. Path-averaged attenuation t * is calculated from amplitude spectra of time windows around the P-wave arrivals of local earthquakes. Average value or Qp for stations close to Nový Kostel are very low (< 150) compared to that of stations located further away from the focal zone (increases up to 500 within 80 km distance). The SIMUL2000 tomography scheme is used to invert the t * for P-wave attenuation perturbation. Analysis of resolution shows that the model is wellresolved in the vicinity of earthquake swarm hypocenters. The prominent features of the model are located around Nový Kostel focal zone and its northern vicinity. Beneath Nový Kostel a vertically stretched (down to depth of 11 km) and a highly attenuating body is observed. This might be due to fracturing and high density of cracks inside the weak earthquake swarm zone in conjunction with presence of free gas/fluid. Further north of Nový Kostel two high attenuating body are located at depths between 2 to 8 km which can represents trapped laterally distributed fluids. The eastern anomaly shows a good correlation with the fluid accumulation area which was suggested in 9HR seismic profile.

As problems in the world become increasingly complex, designers in multiple disciplines have begun to propose swarms as a solution. The espoused benefits include flexibility, resilience, and potential for decentralized control, yet there lacks consensus on what a swarm is, what characteristics they possess, and what applications they are able to address. This study addresses these questions by creating a unified approach for understanding and analyzing swarms, called the Swarm Analysis Framework. The framework pursues three goals: 1) provide extensive analysis on the many characteristics and applications that define a swarm, 2) remain flexible enough to facilitate design, testing, analysis, and other problems in understanding swarms, and 3) outline swarm applications specific to aircraft and spacecraft based swarms. Afterwards, the Swarm Analysis Framework is used to guide a case study in which the application is a swarm was developed to study one of these aerospace applications. Ultimately, the Swarm Analysis Framework, along with its extensions improvements, should be able to act as a guide or roadmap in understanding how swarms behave across multiple disciplines.<br>

No description available.

Bio-inspired swarming behaviors provide an effective decentralized way of coordinating robot teams. However, as robot swarms increase in size, bandwidth and time constraints limit the number of agents a human can communicate with and control. To facilitate scalable human interaction with large robot swarms it is desirable to monitor and influence the collective behavior of the entire swarm through limited interactions with a small subset of agents. However, it is also desirable to avoid situations where a small number of agent failures can adversely affect the collective behavior of the swarm. We present a bio-inspired model of swarming that exhibits distinct collective behaviors and affords limited human interaction to estimate and influence these collective behaviors. Using a simple naive Bayes classifier, we show that the global behavior of a swarm can be detected with high accuracy by sampling local information from a small number of agents. We also show that adding a bio-inspired form of quorum sensing to a swarm increases the scalability of human-swarm interactions and also provides an adjustable threshold on the swarm's vulnerability to agent failures.

In this thesis we propose methods and metrics for human interaction with bio-inspired robot teams. We refine the concept of a stakeholder and demonstrate how a human can use stakeholders to lead a swarm as well as switch the swarm between different collective behaviors. We extend the human interaction metrics of interaction time and interaction effort presented in [1] to swarm systems and introduce the concept of interaction effort. These metrics allow us to understand how well the system performs under human influence. We employ systems theory to estimate these metrics, which is useful because this can be done without performing user studies.

Many animal species, including many species of bats, exhibit collective behavior where groups of individuals coordinate their motion. Most bats are unique among these animals in that they use the active sensing mechanism of echolocation as their primary means of navigation. Due to their use of echolocation in large groups, bats run the risk of signal interference from sonar jamming. However, several species of bats have developed various strategies to prevent interference which may lead to different behavior when flying with conspecifics than when flying alone. This thesis seeks to explore the role of this sensing on the behavior of bat pairs flying together. Field data from a maternity colony of gray bats (Myotis grisescens) were collected using an array of cameras and microphones. These data were analyzed using the information theoretic measure of transfer entropy in order to quantify the interaction between pairs of bats and to determine the effect echolocation calls have on this interaction. Results show that there is evidence of information transfer in both the speed of the bats and their turning behavior, and that such evidence is absent when we consider their heading directions. Unidirectional information transfer was found in some subsets of the data which could be evidence of a leader-follower interaction. / Master of Science / Manyanimalspeciesexhibitcollectivebehaviorwheregroupsofanimalscoordinatetheir motion, as in flocking or schooling. Many species of bats also demonstrate this behavior. Bats are unique among these animals in that they use echolocation as their primary means of navigation. Bats produce ultrasonic pulses or calls and listen to the returning echo to "visualize" their environment. Bats using echolocation in large groups run the risk of other bat calls interfering with their ability to hear their own calls. They have developed various waystopreventinterferencewhichmayleadtodifferentbehaviorwhenflyingwithotherbats thanwhenflyingalone. Fielddatafromamaternitycolonyofgraybatswerecollectedusing a system of cameras and microphones. These data were analyzed to quantify the interaction between pairs of bats and to determine the effect echolocation calls have on this interaction. Results show that there is evidence of information transfer about both the speed of the bats and their turning behavior. There was also evidence of a possible leader-follower interaction in some subsets of the data.

This thesis is concerned with development of a navigation algorithm primarily for the aircraft fighter SAAB JAS 39 Gripen, in swarms of other units. The algorithm uses information from conventional navigation systems and additional information from a radio data link as aiding information, relative range measurements. As the GPS can get jammed, this group tracking solution can provide an increased navigation performance in these conditions. For simplicity, simplified characteristics are used in the simulations where simple generated trajectories and measurements are used. This measurement information can then be fused by using filter theory applied from the sensor fusionarea with statistical approaches. By using the radio data link and the external information sources, i.e. other aircraft and different types of landmarks with often good performance, navigation is aided when the GPS is not usable, at e.g. hostile GPS conditions. A number of scenarios with operative sense of reality were simulated for verifying and studying these conditions, to give results with conclusions. / Det här examensarbetet syftar till utveckling av en algoritm för navigering, primärt för stridsflygplanet SAAB JAS 39 Gripen, i svärmar av andra enheter. Algoritmen använder information från konventionella navigeringssystem och ytterligare information från en radiodatalänk som ger understödjande information, relativa avståndsmätningar. Då den förlitade GPS:en kan störas ut, kan denna gruppspårande lösning öka navigeringsprestandan i dessa förhållanden. För enkelhetens skull, används förenklade karaktäristiker i simuleringarna där enkla genererade trajektorier och mätningar används. Denna mätinformation kan sedan ihopviktas genom att använda filterteori från statistisk sensorfusion. Genom att använda radiodatalänkar och den tillförda informationen från externa informationskällor, således andra flygplan och olika typer av landmärken som väldigt ofta har god prestanda, är navigeringen understödd när GPS inte är användbar, t.ex. i GPS-fientliga miljöer. Ett antal scenarion med operativ verklighetsanknytning simulerades för att verifiera och studera dessa förhållanden, för att ge resultat med slutsatser. / © Daniel Magnusson.

The main goal of this thesis is to analyze the statistical properties of seismic catalogues of natural and induced seismicity, identify similarities and differences. We compare statistical temporal and magnitude information contained in different types of earthquake catalogues. Six seismostatistical criteria used for identification of natural swarms and mainshock- aftershock earthquake sequences are applied to 10 different catalogues of natural and induced seismicity. We did not find a method to reliably distinguish between natural and induced seismicity based only on temporal and magnitude information contained in catalogues. We show that induced seismicity catalogues are similar to natural earthquake swarms. We report how the set of 6 criteria presented here can be used for distinguishing between mainshock-aftershock sequences and swarm seismicity. We also show that none of the tested criteria can be used independently for distinguishing between different types of seismicity.

Η διπλωματική αυτή εργασία έχει ως αντικείμενο μελέτης εφαρμογές / διεργασίες στα ρομποτικά σμήνη. Οι εφαρμογές / διεργασίες που εξετάζονται είναι η καλυψιμότητα χώρου, η διατήρηση συνδεσιμότητας και τα παιχνίδια κυνηγού - κυνηγούμενου. Συγκεκριμένα, εξετάζονται δύο μέθοδοι καλυψιμότητας χώρου: κίνηση προς το κεντροειδές και κίνηση προς τη βάθμωση. Εισάγονται οι επικοινωνιακοί περιορισμοί και προτείνονται περιορισμοί κίνησης που εξασφαλίζουν διατήρηση N-hop συνδεσιμότητας, οι οποίοι έπειτα προσαρμόζονται στην καλυψιμότητα χώρου. Αναλύονται δύο τακτικές κυνηγού: οι έμμεσοι κυνηγοί και η τακτική περικύκλωσης, και προτείνονται δύο τακτικές για τους κυνηγούμενους. Η πρώτη αποτελεί μία παθητική αποφυγή των κυνηγών, ενώ η δεύτερη μια πιο δυναμική συνεργατική τακτική. Τέλος, προσομοιώσεις συνοδεύουν όλα τα παραπάνω μέρη, που επιβεβαιώνουν την αποτελεσματικότητά τους και προσφέρουν σύγκριση των διάφορων μεθόδων για την κάθε εφαρμογή. / This thesis addresses applications / tasks of robotic swarms. The applications / tasks presented are the area coverage, communication maintenance and pursuer - evasion games. Two methods for area coverage are examined; centroid and gradient movement. Communication constraints are considered and movement constraints are proposed, such that the swarm's N-hop connectivity is retained. Then the contraints are adapted for the area coverage problem. After that, two pursuing tactics are examined; the indirect pursuers and the blanket movement, and two evader tactics are proposed. The first is a passive pursuers avoidance, while the second is a more dynamic collaborative tactic. Finally, simulations accompanying the above sections, confirm the efficiency and offer a comparison between the different methods in each application.