Distributed Intelligence in Autonomous Robotics; Required Readings

CS594: Distributed Intelligence in Autonomous Robotics

Required Reading List and Paper Presentation Schedule

Spring 2003

Course home page Syllabus Reading List Handouts
Exam #1 Study Guide Exam #2 Study Guide Final Exam Study Guide
Notes:
  1. If you are enrolled in this class for Spring 2003 you must present one of the following papers in class. The assignments of papers are shown below.
  2. Most papers pointed to below are copyrighted by their authors or publishers. Please respect that copyright by using the papers only for purposes of assigned reading in this class.
  3. Many of the papers below are in pdf format. You can use Adobe Acrobat to view them.
  4. Some of the papers below are in PostScript. You can use Ghostview to view them. Some of the papers may be compressed. Use the WinZip utility to uncompress them in Windows. On a Unix system, you might need to use gunzip for filenames which end in .gz and uncompress for filenames which end in .Z.
  5. If an electronic version is not provided below, a hard copy of the paper will be distributed in class.
  6. Refer to the syllabus for more information on what is expected for your paper presentation. Click here to see the form for evaluation of your presentation.
Date Topic Papers Presenter(s)
1/14 Introduction/Overview 1. Guest Editorial: Advances in MultiRobot Systems, by T. Arai, E. Pagello, and L. E. Parker, IEEE Transactions on Robotics and Automation 18(5): 655-661, 2002.

2. Cooperative Mobile Robotics: Antecedents and Directions, by Cao, Fukunaga, and Kahng, Autonomous Robots 4(1): 7-27, 1997.

n/a
1/16 Biological Inspirations 3. Stigmergy, Self-Organization, and Sorting in Collective Robotics, by Holland and Melhuish, Artificial Life 5: 173-202, 1999. n/a
1/21 Swarming/dispersion/homing 4. Designing and Understanding Adaptive Group Behavior, by M. Mataric, Adaptive Behavior 4(1): 51-80, December 1995. n/a
1/23 Guest lecture presented by William Duncan: Key techniques for single autonomous robot control (Lynne is at Intel) 5. Excerpts from Chapter 4 of Arkin's Behavior-Based Robotics n/a
1/28 Metrics/Evaluation

 6. Chapter 4, Robot Teams text. n/a
1/30 Search/coverage, Part I 7. Randomized search strategies with imperfect sensors, by D. Gage, Proc. of SPIE Mobile Robots VIII , Vol. 2058, pgs. 270-279, 1993. 7. Chris Reardon
2/4 Search/coverage, Part II 8. An incremental self-deployment algorithm for mobile sensor networks, by Howard, et al, Autonomous Robots, 13(2): 113-126, September 2002. 8. Yifan Tang
2/6 Sensor networks 9. Next Century Challenges: Scalable Coordination in Sensor Networks, by Estrin et al, Proc. of MOBICOMM, pgs. 263-270, 1999. n/a
2/11 Communication and communications networks 10. Communication in reactive multiagent robotic systems, by Balch and Arkin, Autonomous Robots, 1: 27-52, 1994.

(optional) 11. Chapter 3 of Robot Teams text

n/a

n/a

2/13 EXAM 1    
2/18 Formations 12. Behavior-based formation control for multiagent robot teams, by Balch and Arkin, IEEE Transactions on Robotics and Automation, December 1998. 12. Fang Tang
2/20 Herding 13. Evolution of herding behavior in artificial animals, by Werner and Dyer, From Animals to Animats 2, Meyer et al (eds.), MIT Press, 1992, pages 393-399. 13. Jason McNair
2/25 Tracking 14. Distributed algorithms for multi-robot observation of multiple moving targets, by L. E. Parker, Autonomous Robots, 12(3): 231-255, 2002. 14. Trey Strickland
2/27 Reconfigurable Robots, Part I 15. Hormone-inspired adaptive communication and distributed control for CONRO self-reconfigurable robots, by She, Selemi, and Will, IEEE Transactions on Robotics and Automation, 18(5): 700-712, October 2002.

** (Related, but not required: Chapter 5 of Robot Teams text.)

15. Maureen Chandra
3/4 Reconfigurable Robots, Part II 16. Crystalline Robots: Self-reconfiguration with compressible unit modules, by Rus and Vona, Autonomous Robots 10: 107-124, 2001. 16. Matthew Aldridge
3/6 Multi-robot path planning, traffic management 17. A distributed and optimal motion planning approach for multiple mobile robots, by Guo and Parker, Proceedings of IEEE International Conference on Robotics and Automation, 2002. 17. Ben Birch
3/11 Taxonomies 18. Chapter 1 of Robot Teams text

19. Chapter 2 of Robot Teams text

18. Lan Lin

19. Xiaoquan Fu

3/13 EXAM 2    
3/18 Spring Break    
3/20 Spring Break    
3/25 Task allocation -- negotiation 20. The Contract Net Protocol: High-Level Communication and Control in a Distributed Problem Solver", by Smith, IEEE Transactions on Computers , C-2912: 1104-1113, 1980. n/a
3/27 Task allocation -- markets 21. Sold! Auction Methods for Multirobot Coordination, by Gerkey and Mataric, IEEE Transactions on Robotics and Automation, 18(5): 758-768, October 2002. 21. Yohan Sawant
4/1 Task allocation -- modeling 22. ALLIANCE: An Architecture for Fault Tolerant Multi-Robot Cooperation, by L. E. Parker, IEEE Transactions on Robotics and Automation, 14(2): 220-240, April 1998. 22. Balajee Kannan
4/3 Highly heterogeneous teams 23. Chapter 9 of Robot Teams text

24. Chapter 12 of Robot Teams text

23. Shakhina Pulatova

24. Jeff Barnett

4/8 Cooperative localization, mapping, and exploration 25. Chapter 6 of Robot Teams text

26. Chapter 10 of Robot Teams text

25. Eddie Cliff

26. Jon Scharff

4/10 Embedded Systems, Part I 27. The computer for the twenty-first century, by Weiser, Scientific American, September 1991, pgs. 94-104 27. Trevor Dennison
4/15 Embedded Systems, Part II 28. Chapter 1 of: Embedded, Everywhere, by Estrin et al, National Academy of Engineering, 2001.

28b. Chapter 2 of: Embedded, Everywhere, by Estrin et al, National Academy of Engineering, 2001.

28. David Resseguie

28b. n/a

4/17 Embedded Systems, Part III 29. Chapter 3 of: Embedded, Everywhere, by Estrin et al, National Academy of Engineering, 2001. n/a
4/22 Embedded Systems, Part IV 30. Smart Rooms, by A. Pentland, Scientific American, 274(4): 68-76, April 1996. 30. Paul DeWitt
4/24 Multi-Robot Soccer and Course Wrap-Up 31. RoboCup: Today and tomorrow -- What we have learned, Artificial Intelligence, 110(2): 193-214, 1999. Electronic version available through UT's electronic library resources 31. Shane Murphy
4/29 NO CLASS (Lynne is in D.C.)    
5/6 FINAL EXAM: 10:15 - 11:30