CORATAM presentation at Breaking the Surface 2014

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Miguel Duarte

CORATAM

Ciencias

Design of Communication and Control for Swarms of Aquatic Surface Drones
About me
!
• BSc in Computer Science, University Institute of Lisbon (2007-2010)
• MSc in Computer Science, University Institute of Lisbon (2010-2012)
• PhD in AI & Robotics, University Institute of Lisbon (2012-2015*)
!
• Member of the BIOMACHINES lab and Instituto de Telecomunicações
!
• Research interests:
• automatic behavior synthesis
• artificial evolution
• swarm robotics
Breaking the Surface 2014

Design of Communication and Control for Swarms of Aquatic Surface Drones
BIOMACHINES lab
• Established in 2011
• PI: Anders Lyhne Christensen
• 2 faculty members, 4 PhD students, 2 MSc students (as of Oct 2014)
• 40 publications in International Journals and Conferences
• Collective intelligence
• Automatic synthesis of control
• Evolutionary computation
• Self-assembly
• Fault tolerance
• http://biomachineslab.com
Breaking the Surface 2014

Design of Communication and Control for Swarms of Aquatic Surface Drones
Motivation
• Maritime missions are expensive to
carry out (manned vehicles with
large operational crews)
!
!
!
• Unmanned vehicles have the
potential to lower such costs, but
are still reasonably expensive
(X0.000€), limiting their use to one
or a low number of vehicles
Breaking the Surface 2014

Design of Communication and Control for Swarms of Aquatic Surface Drones
Motivation
• Alternative: swarms of simple, inexpensive robots
!
• Potential missions: environmental monitoring, sea life localization, sea
border patrolling, distributed sensing, etc…
!
• Benefits: robustness, fault tolerance, scalability, availability
Breaking the Surface 2014

Design of Communication and Control for Swarms of Aquatic Surface Drones
Goals
• Develop a scalable, heterogeneous, and fault-tolerant ad-hoc network
architecture for swarms of aquatic drones (HANCAD project)
!
• Explore our novel control synthesis approach in a variety of real-world
maritime missions (CORATAM project)
!
• Release all software and hardware as open-source
!
• Proof-of-concept experiments with up to 25 robots until Summer 2015
Breaking the Surface 2014

Design of Communication and Control for Swarms of Aquatic Surface Drones
Hardware
Breaking the Surface 2014

Design of Communication and Control for Swarms of Aquatic Surface Drones
Hardware
Breaking the Surface 2014
Hull material  
Extruded polystyrene foam (XPS), milled in a CNC machine

Design of Communication and Control for Swarms of Aquatic Surface Drones
Control
• Problem: control for swarms of robots is difficult to manually derive
!
• Potential solution: hybrid approach [1]:
• Behavior primitives are artificial neural networks synthesized using
evolutionary algorithms (scalable, adaptable, robust, automatic)
• Behavior arbitrators are simple finite state-machines that decide
when each primitive should be executed (simple, easy to change
for different missions)
Breaking the Surface 2014
[1] M. Duarte, S. M. Oliveira and A. L. Christensen, "Evolution of Hybrid Robotic Controllers for
Complex Tasks", Journal of Intelligent and Robotic Systems, 2014.

Design of Communication and Control for Swarms of Aquatic Surface Drones
Preliminary results
Breaking the Surface 2014
[1] M. Duarte, S. M. Oliveira and A. L. Christensen, "Hybrid Control for Large Swarms of Aquatic
Drones", Proceedings of ALIFE, 2014.
Top Level
Behavior Arbitrator
Behavior Primitive
Patrol
Behavior Primitive Behavior Primitive
Go To Waypoint Pursue Intruder

Design of Communication and Control for Swarms of Aquatic Surface Drones
Questions?
Breaking the Surface 2014
http://biomachineslab.com

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CPS and Cyber-Physical Systems of Systems (CPSoS) are increasingly playing the role of foundational building blocks for bringing adaptive intelligence to processes and environments, in several application domains ranging from Smart Mobility, to Smart Health, Smart Cities and Smart Production. Due to the increasing pervasiveness of CPS, issues related to effective design of solutions, able to reach predefined goals flexibly, reliably and adapting to changing surrounding conditions, become challenging and worth of further investigation. While increasing the CPS adoption results in increasingly mature solutions for their development, a single, consistent, science of system integration for CPS has not yet been consolidated. As a matter of fact, the increasing interactions amongst different CPS are starting to generate unpredicted behaviours and emerging properties, often leading to unforeseen and/or undesired results. These interactions could become an advantage if they were explicitly managed, and accounted, since the early design stages. The CPSwarm project, presented in this lecture, aims at tackling these kinds of challenges by easing development and integration of complex herds of heterogeneous CPS. Thanks to CPSwarm, systems designed through a combination of existing and emerging tools, will collaborate on the basis of local policies and exhibit a collective behaviour capable of solving complex, real-world, problems. Three real-world use cases will demonstrate the validity of foundational assumptions of the presented approach as well as the viability of the developed tools and methodologies. CPSwarm will demonstrate the viability of the proposed approach on 3 complimentary, yet di_erent, use cases targeted at: (a) swarms of (mixed) robotic vehicles (e.g. Unmanned Aerial Vehicles (UAV) and rovers), (b) automotive CPS systems for freight vehicles and (c) swarm logistics. All scenarios are characterized by the presence of heterogeneous CPS interacting together and showing emerging behaviors difficult to predict with traditional approaches and will be presented in the lecture.

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CORATAM presentation at Breaking the Surface 2014

1. ! ! ! Miguel Duarte Design of Communication and Control for Swarms of Aquatic Surface Drones ! The CORATAM and HANCAD projects Breaking the Surface 2014

2. Design of Communication and Control for Swarms of Aquatic Surface Drones About me ! • BSc in Computer Science, University Institute of Lisbon (2007-2010) • MSc in Computer Science, University Institute of Lisbon (2010-2012) • PhD in AI & Robotics, University Institute of Lisbon (2012-2015*) ! • Member of the BIOMACHINES lab and Instituto de Telecomunicações ! • Research interests: • automatic behavior synthesis • artificial evolution • swarm robotics Breaking the Surface 2014

3. Design of Communication and Control for Swarms of Aquatic Surface Drones BIOMACHINES lab • Established in 2011 • PI: Anders Lyhne Christensen • 2 faculty members, 4 PhD students, 2 MSc students (as of Oct 2014) • 40 publications in International Journals and Conferences • Collective intelligence • Automatic synthesis of control • Evolutionary computation • Self-assembly • Fault tolerance • http://biomachineslab.com Breaking the Surface 2014

4. Design of Communication and Control for Swarms of Aquatic Surface Drones Motivation • Maritime missions are expensive to carry out (manned vehicles with large operational crews) ! ! ! • Unmanned vehicles have the potential to lower such costs, but are still reasonably expensive (X0.000€), limiting their use to one or a low number of vehicles Breaking the Surface 2014

5. Design of Communication and Control for Swarms of Aquatic Surface Drones Motivation • Alternative: swarms of simple, inexpensive robots ! • Potential missions: environmental monitoring, sea life localization, sea border patrolling, distributed sensing, etc… ! • Benefits: robustness, fault tolerance, scalability, availability Breaking the Surface 2014

6. Design of Communication and Control for Swarms of Aquatic Surface Drones Goals • Develop a scalable, heterogeneous, and fault-tolerant ad-hoc network architecture for swarms of aquatic drones (HANCAD project) ! • Explore our novel control synthesis approach in a variety of real-world maritime missions (CORATAM project) ! • Release all software and hardware as open-source ! • Proof-of-concept experiments with up to 25 robots until Summer 2015 Breaking the Surface 2014

7. Design of Communication and Control for Swarms of Aquatic Surface Drones Hardware Breaking the Surface 2014

8. Design of Communication and Control for Swarms of Aquatic Surface Drones Hardware Breaking the Surface 2014 Hull material   Extruded polystyrene foam (XPS), milled in a CNC machine

9. Design of Communication and Control for Swarms of Aquatic Surface Drones Control • Problem: control for swarms of robots is difficult to manually derive ! • Potential solution: hybrid approach [1]: • Behavior primitives are artificial neural networks synthesized using evolutionary algorithms (scalable, adaptable, robust, automatic) • Behavior arbitrators are simple finite state-machines that decide when each primitive should be executed (simple, easy to change for different missions) Breaking the Surface 2014 [1] M. Duarte, S. M. Oliveira and A. L. Christensen, "Evolution of Hybrid Robotic Controllers for Complex Tasks", Journal of Intelligent and Robotic Systems, 2014.

10. Design of Communication and Control for Swarms of Aquatic Surface Drones Preliminary results Breaking the Surface 2014 [1] M. Duarte, S. M. Oliveira and A. L. Christensen, "Hybrid Control for Large Swarms of Aquatic Drones", Proceedings of ALIFE, 2014. Top Level Behavior Arbitrator Behavior Primitive Patrol Behavior Primitive Behavior Primitive Go To Waypoint Pursue Intruder

11. Design of Communication and Control for Swarms of Aquatic Surface Drones Questions? Breaking the Surface 2014 http://biomachineslab.com

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