Pub Date : 2023-06-28DOI: 10.48550/arXiv.2306.16032
K. Clinch, Tony A. Wood, C. Manzie
We consider the problem of finding a low-cost allocation and ordering of tasks between a team of robots in a d-dimensional, uncertain, landscape, and the sensitivity of this solution to changes in the cost function. Various algorithms have been shown to give a 2-approximation to the MinSum allocation problem. By analysing such an auction algorithm, we obtain intervals on each cost, such that any fluctuation of the costs within these intervals will result in the auction algorithm outputting the same solution.
{"title":"Auction algorithm sensitivity for multi-robot task allocation","authors":"K. Clinch, Tony A. Wood, C. Manzie","doi":"10.48550/arXiv.2306.16032","DOIUrl":"https://doi.org/10.48550/arXiv.2306.16032","url":null,"abstract":"We consider the problem of finding a low-cost allocation and ordering of tasks between a team of robots in a d-dimensional, uncertain, landscape, and the sensitivity of this solution to changes in the cost function. Various algorithms have been shown to give a 2-approximation to the MinSum allocation problem. By analysing such an auction algorithm, we obtain intervals on each cost, such that any fluctuation of the costs within these intervals will result in the auction algorithm outputting the same solution.","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"75 1","pages":"111239"},"PeriodicalIF":0.0,"publicationDate":"2023-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75924530","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-26DOI: 10.48550/arXiv.2306.14503
Huiwen Yang, Lingying Huang, Chao Yang, Yilin Mo, Ling Shi
In this paper, we study the sensor selection problem for remote state estimation under the Quality-of-Service (QoS) requirement constraints. Multiple sensors are employed to observe a linear time-invariant system, and their measurements should be transmitted to a remote estimator for state estimation. However, due to the limited communication resources and the QoS requirement constraints, only some of the sensors can be allowed to transmit their measurements. To estimate the system state as accurately as possible, it is essential to select sensors for transmission appropriately. We formulate the sensor selection problem as a non-convex optimization problem. It is difficult to solve such a problem and even to find a feasible solution. To obtain a solution which can achieve good estimation performance, we first reformulate and relax the formulated problem. Then, we propose an algorithm based on successive convex approximation (SCA) to solve the relaxed problem. By utilizing the solution of the relaxed problem, we propose a heuristic sensor selection algorithm which can provide a good suboptimal solution. Simulation results are presented to show the effectiveness of the proposed heuristic.
{"title":"Sensor Selection for Remote State Estimation with QoS Requirement Constraints","authors":"Huiwen Yang, Lingying Huang, Chao Yang, Yilin Mo, Ling Shi","doi":"10.48550/arXiv.2306.14503","DOIUrl":"https://doi.org/10.48550/arXiv.2306.14503","url":null,"abstract":"In this paper, we study the sensor selection problem for remote state estimation under the Quality-of-Service (QoS) requirement constraints. Multiple sensors are employed to observe a linear time-invariant system, and their measurements should be transmitted to a remote estimator for state estimation. However, due to the limited communication resources and the QoS requirement constraints, only some of the sensors can be allowed to transmit their measurements. To estimate the system state as accurately as possible, it is essential to select sensors for transmission appropriately. We formulate the sensor selection problem as a non-convex optimization problem. It is difficult to solve such a problem and even to find a feasible solution. To obtain a solution which can achieve good estimation performance, we first reformulate and relax the formulated problem. Then, we propose an algorithm based on successive convex approximation (SCA) to solve the relaxed problem. By utilizing the solution of the relaxed problem, we propose a heuristic sensor selection algorithm which can provide a good suboptimal solution. Simulation results are presented to show the effectiveness of the proposed heuristic.","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"13 1","pages":"111241"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87564731","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-01DOI: 10.1109/MRA.2023.3266932
A. Mason, T. Haidegger, O. Alvseike
{"title":"Time for Change: The Case of Robotic Food Processing [Industry Activities]","authors":"A. Mason, T. Haidegger, O. Alvseike","doi":"10.1109/MRA.2023.3266932","DOIUrl":"https://doi.org/10.1109/MRA.2023.3266932","url":null,"abstract":"","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"35 1","pages":"116-122"},"PeriodicalIF":0.0,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88443172","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-01DOI: 10.1109/MRA.2023.3267138
E. Ackerman
{"title":"How to Make a Good Robot Video [Media]","authors":"E. Ackerman","doi":"10.1109/MRA.2023.3267138","DOIUrl":"https://doi.org/10.1109/MRA.2023.3267138","url":null,"abstract":"","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"2 1","pages":"127-129"},"PeriodicalIF":0.0,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87164078","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-01DOI: 10.1109/MRA.2023.3266618
Mengchu Zhou, Yan Qiao, Bin Liu, B. Vogel‐Heuser, Heeyoung Kim
{"title":"Machine Learning for Industry 4.0 [From the Guest Editors]","authors":"Mengchu Zhou, Yan Qiao, Bin Liu, B. Vogel‐Heuser, Heeyoung Kim","doi":"10.1109/MRA.2023.3266618","DOIUrl":"https://doi.org/10.1109/MRA.2023.3266618","url":null,"abstract":"","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"264 2","pages":"8-9"},"PeriodicalIF":0.0,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91492099","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-01DOI: 10.1109/MRA.2023.3266933
Julie Stephany Berrio Perez, Efi Psomopoulou, H. B. Amor, Daniel Leidner
{"title":"Becoming a Plenary or Keynote Speaker in an International Robotics Conference: Perspectives From an IEEE RAS Women in Engineering Panel [Women in Engineering]","authors":"Julie Stephany Berrio Perez, Efi Psomopoulou, H. B. Amor, Daniel Leidner","doi":"10.1109/MRA.2023.3266933","DOIUrl":"https://doi.org/10.1109/MRA.2023.3266933","url":null,"abstract":"","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"58 1","pages":"113-115"},"PeriodicalIF":0.0,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81358771","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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