Dataset Information

From Design to Deployment: Decentralized Coordination of Heterogeneous Robotic Teams.

ABSTRACT: Many applications benefit from the use of multiple robots, but their scalability and applicability are fundamentally limited when relying on a central control station. Getting beyond the centralized approach can increase the complexity of the embedded software, the sensitivity to the network topology, and render the deployment on physical devices tedious and error-prone. This work introduces a software-based solution to cope with these challenges on commercial hardware. We bring together our previous work on Buzz, the swarm-oriented programming language, and the many contributions of the Robotic Operating System (ROS) community into a reliable workflow, from rapid prototyping of decentralized behaviors up to robust field deployment. The Buzz programming language is a hardware independent, domain-specific (swarm-oriented), and composable language. From simulation to the field, a Buzz script can stay unmodified and almost seamlessly applicable to all units of a heterogeneous robotic team. We present the software structure of our solution, and the swarm-oriented paradigms it encompasses. While the design of a new behavior can be achieved on a lightweight simulator, we show how our security mechanisms enhance field deployment robustness. In addition, developers can update their scripts in the field using a safe software release mechanism. Integrating Buzz in ROS, adding safety mechanisms and granting field updates are core contributions essential to swarm robotics deployment: from simulation to the field. We show the applicability of our work with the implementation of two practical decentralized scenarios: a robust generic task allocation strategy and an optimized area coverage algorithm. Both behaviors are explained and tested with simulations, then experimented with heterogeneous ground-and-air robotic teams.

SUBMITTER: St-Onge D

PROVIDER: S-EPMC7806003 | biostudies-literature | 2020

REPOSITORIES: biostudies-literature

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From Design to Deployment: Decentralized Coordination of Heterogeneous Robotic Teams.

St-Onge David D Varadharajan Vivek Shankar VS Švogor Ivan I Beltrame Giovanni G

Frontiers in robotics and AI 20200507

Many applications benefit from the use of multiple robots, but their scalability and applicability are fundamentally limited when relying on a central control station. Getting beyond the centralized approach can increase the complexity of the embedded software, the sensitivity to the network topology, and render the deployment on physical devices tedious and error-prone. This work introduces a software-based solution to cope with these challenges on commercial hardware. We bring together our pre ...[more]

PMID: 33501219

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Project description:BACKGROUND: Functional integration of motor activity patterns enables the production of coordinated movements, such as walking. The activation of muscles by weightened summation of activation signals has been demonstrated to represent the spatiotemporal components that determine motor behavior during walking. Exoskeleton robotic devices are now often used in the rehabilitation practice to assist physical therapy of individuals with neurological disorders. These devices are used to promote motor recovery by providing guidance force to the patients. The guidance should in principle lead to a muscle coordination similar to physiological human walking. However, the influence of robotic devices on locomotor patterns needs still to be characterized. The aim of this study was to analyze the effect of force guidance and gait speed on the modular organization of walking in a group of eight healthy subjects. METHOD: A group of healthy subjects walked on a treadmill with and without robotic aiding at speeds of 1.5, 2.0 and 2.5 Km/h. The guidance force was varied between 20%, 40%, 70% and 100% level of assistance. EMG recordings were obtained from seven leg muscles of the dominant leg and kinematic and kinetic features of the knee and hip joints were extracted. RESULTS: Four motor modules were sufficient to represent the variety of behavioral goals demanded during robotic guidance, with similar relationships between muscle patterns and biomechanical parameters across subjects, confirming that the low-dimensional and impulsive control of human walking is maintained using robotic force guidance. The conditions of guidance force and speed that maintained correct and incorrect (not natural) modular control were identified. CONCLUSION: In neurologically intact subjects robotic-guided walking at various force guidance and speed levels does not alter the basic locomotor control and timing. This allows the design of robotic-aided rehabilitation strategies aimed at the modulation of motor modules, which are altered in stroke.

Project description:Effective delivery of healthcare is highly interdependent within and between interprofessional (IP) care teams and the patients they serve. This is particularly true for complex health conditions such as advanced heart failure (AHF). Our Academic Practice Partnership received funding to carry out IP workforce development with inpatient AHF care teams. Our objectives were to (a) identify challenges in team functioning that affected communication and relationships among the AHF care teams, (b) collaboratively identify a focal work process in need of improvement, and (c) test whether facilitated the implementation of team training and work process changes would lead to improvements in team communication, relationships, and process outcomes. The health-care team identified implementation of structured IP bedside rounds (SIBR) as the preferred approach to improving collaborative care. Utilizing a cross-sectional pre/post design, changes in team communication and relationships before and after a team intervention that included TeamSTEPPS training and SIBR implementation, were assessed using a validated Relational Coordination (RC) survey. The study population included AHF care team members (n ~ 100) representing seven workgroups (e.g., nurses, pharmacists) from two inpatient cardiology units at a 450-bed academic medical center in the Pacific Northwest during 2015-2016. Improvements in RC scores were demonstrated across all seven RC dimensions from baseline (Year 1) to follow-up (Year 2). Percent change on each of the seven dimensions ranged from 3.57% to 9.85%. Changes were statistically significant for improvements between baseline and follow-up on all but one of the seven RC dimensions (shared knowledge). The IP team intervention was associated with improvements in RC from baseline to follow-up. Additional research is needed to assess patient perspectives and outcomes of the IP team intervention. Findings of this study are consistent with the growing body of RC and SIBR research and provide a useful model of an IP team-based intervention in clinical practice.

Dataset Information

From Design to Deployment: Decentralized Coordination of Heterogeneous Robotic Teams.

Publications

From Design to Deployment: Decentralized Coordination of Heterogeneous Robotic Teams.

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