Architecture for real-time coordination of multiple autonomous mobile units

Interest on using teams of mobile robots has been growing, due to their potential to cooperate for diverse purposes, such as rescue, de-mining, surveillance or even games such as robotic soccer. These applications require a real-time middleware and wireless communication protocol that can support an efficient and timely fusion of the perception data from different robots as well as the development of coordinated behaviours. Coordinating several autonomous robots towards achieving a common goal is currently a topic of high interest, which can be found in many application domains. Despite these different application domains, the technical problem of building an infrastructure to support the integration of the distributed perception and subsequent coordinated action is similar. This problem becomes tougher with stronger system dynamics, e.g., when the robots move faster or interact with fast objects, leading to tighter real-time constraints. This thesis work addressed computing architectures and wireless communication protocols to support efficient information sharing and coordination strategies taking into account the real-time nature of robot activities. The thesis makes two main claims. Firstly, we claim that despite the use of a wireless communication protocol that includes arbitration mechanisms, the self-organization of the team communications in a dynamic round that also accounts for variable team membership, effectively reduces collisions within the team, independently of its current composition, significantly improving the quality of the communications. We will validate this claim in terms of packet losses and communication latency. We show how such self-organization of the communications can be achieved in an efficient way with the Reconfigurable and Adaptive TDMA protocol. Secondly, we claim that the development of distributed perception, cooperation and coordinated action for teams of mobile robots can be simplified by using a shared memory middleware that replicates in each cooperating robot all necessary remote data, the Real-Time Database (RTDB) middleware. These remote data copies, which are updated in the background by the selforganizing communications protocol, are extended with age information automatically computed by the middleware and are locally accessible through fast primitives. We validate our claim showing a parsimonious use of the communication medium, improved timing information with respect to the shared data and the simplicity of use and effectiveness of the proposed middleware shown in several use cases, reinforced with a reasonable impact in the Middle Size League of RoboCup.

Dynamic set pieces for CAMBADA team

Robotics is an emergent branch of engineering that involves the conception, manufacture, and control of robots. It is a multidisciplinary field that combines electronics, design, computer science, artificial intelligence, mechanics and nanotechnology. Its evolution results in machines that are able to perform tasks with some level of complexity. Multi-agent systems is a researching topic within robotics, thus they allow the solving of higher complexity problems, through the execution of simple routines. Robotic soccer allows the study and development of robotics and multiagent systems, as the agents have to work together as a team, having in consideration most problems found in our quotidian, as for example adaptation to a highly dynamic environment as it is the one of a soccer game. CAMBADA is the robotic soccer team belonging to the group of research IRIS from IEETA, composed by teachers, researchers and students of the University of Aveiro, which annually has as main objective the participation in the RoboCup, in the Middle Size League. The purpose of this work is to improve the coordination in set pieces situations. This thesis introduces a new behavior and the adaptation of the already existing ones in the offensive situation, as well as the proposal of a new positioning method in defensive situations. The developed work was incorporated within the competition software of the robots. Which allows the presentation, in this dissertation, of the experimental results obtained, through simulation software as well as through the physical robots on the laboratory.

The SOPHIE search for northern extrasolar planets: X. Detection and characterization of giant planets by the dozen

We present new radial velocity measurements of eight stars that were secured with the spectrograph SOPHIE at the 193 cm telescope of the Haute-Provence Observatory. The measurements allow detecting and characterizing new giant extrasolar planets. The host stars are dwarfs of spectral types between F5 and K0 and magnitudes of between 6.7 and 9.6; the planets have minimum masses Mp sin i of between 0.4 to 3.8 MJup and orbitalperiods of several days to several months. The data allow only single planets to be discovered around the first six stars (HD 143105, HIP 109600, HD 35759, HIP 109384, HD 220842, and HD 12484), but one of them shows the signature of an additional substellar companion in the system. The seventh star, HIP 65407, allows the discovery of two giant planets that orbit just outside the 12:5 resonance in weak mutual interaction. The last star, HD 141399, was already known to host a four-planet system; our additional data and analyses allow new constraints to be set on it. We present Keplerian orbits of all systems, together with dynamical analyses of the two multi-planet systems. HD 143105 is one of the brightest stars known to host a hot Jupiter, which could allow numerous follow-up studies to be conducted even though this is not a transiting system. The giant planets HIP 109600b, HIP 109384b, and HD 141399c are located in the habitable zone of their host star.