Mobile Robotic JChoc DisSolver - A Distributed Constraints Reasoning Platform for Mobile Multi-robot Problems

Zakarya Erraji, Mounia Janah, Imade Benelallam, El Houssine Bouyakhf

2016

Abstract

Due to the computational complexity (NP-Complete) of Constraint Programming (CP), several researchers have abandoned its use in robotic research field. In the last decade, as many approaches of real-time constraint handling have been proposed, constraint programming has proved to be a stand-alone technology that can be used in several research fields. Even if mobile robotics is a complex research area, in this paper, we prove that distributed constraint reasoning techniques can be utilized as a very elegant formalism for multi-robot decision making. First, we describe dynamic distributed constraint satisfaction formalism, the new platform architecture ”RoboChoc” and specify how decision making can be controlled in multi-robots environment using dynamic communication protocols. Then we provide an example application that illustrates how our platform can be used to solve multi-robot problems using constraint programming techniques.

References

  1. Allison, L., Yee, C., and McGaughey, M. (1989). Threedimensional queens problems. Monash University, Department of Computer Science.
  2. Borning, A. (1981). The programming language aspects of thinglab, a constraint-oriented simulation laboratory. volume 3, pages 353-387. ACM.
  3. Echeverria, G., Lassabe, N., Degroote, A., and Lemaignan, S. (2011). Modular openrobots simulation engine: Morse. In Proceedings of the IEEE ICRA.
  4. JADE (2013). Java agent developpement framework. In URL http://jade.tilab.com/.
  5. Jussien, N., Rochart, G., and Lorcal, X. (2008). Choco: an open source java constraint programming library. In CPAIOR'08 Workshop on Open-Source Software for Integer and Contraint Programming(OSSICP'08). France, Paris.
  6. Mackworth, A. K. (1997). Constraint-based design of embedded intelligent systems. volume 2, pages 83-86. Springer.
  7. Meir, K., Gal, A. K., Amnon, M., and Yehuda, E. (2006). Diagnosis of multi-robot coordination failures using distributed csp algorithms. In American Association for Artificial Intelligence, 970-975.
  8. Omomowo, B., Arana, I., and Ahriz, H. (2008). Dynabt: Dynamic asynchronous backtracking for dynamic discsps. In Artificial Intelligence: Methodology, Systems, and Applications, pages 285-296. Springer.
  9. Pai, D. K. (1989). Programming parallel distributed control for complex systems. In Intelligent Control, 1989. Proceedings., IEEE International Symposium on, pages 426-432.
  10. Pai, D. K. (1991). Least constraint: A framework for the control of complex mechanical systems. In American Control Conference, 1991, pages 1615-1621.
  11. Panescu, D. and Pascal, C. (2014). A constraint satisfaction approach for planning of multi-robot systems. In System Theory, Control and Computing (ICSTCC), 2014 18th International Conference, pages 157-162.
  12. Quigley, M., Conley, K., Gerkey, B., Faust, J., Foote, T., Leibs, J., Wheeler, R., and Ng, A. Y. (2009). Ros: an open-source robot operating system. In ICRA workshop on open source software, volume 3, page 5.
  13. Stansbury, R. S. and Agah, A. (2012). A robot decision making framework using constraint programming. volume 38, pages 67-83. Springer.
  14. Thomas, F. and Ros, L. (2005). Revisiting trilateration for robot localization. volume 21, pages 93-101. IEEE.
  15. Yokoo, M., Durfee, E., Ishida, T., and Kuwabara, K. (1992). Distributed constraint satisfaction for formalizing distributed problem solving. In International Conference on Distributed Computing Systems, 614-621.
  16. Zaman, S., Slany, W., and Steinbauer, G. (2011). Ros-based mapping, localization and autonomous navigation using a pioneer 3-dx robot and their relevant issues. In Electronics, Communications and Photonics Conference (SIECPC), 2011 Saudi International, pages 1-5.
  17. Zhang, Y. and Mackworth, A. K. (1994). Specification and verification of constraint-based dynamic systems. In Principles and Practice of Constraint Programming, pages 229-242.
  18. Zhang, Y. and Mackworth, A. K. (2002). A constraint-based robotic soccer team. volume 7, pages 7-28. Springer.
Download


Paper Citation


in Harvard Style

Erraji Z., Janah M., Benelallam I. and Bouyakhf E. (2016). Mobile Robotic JChoc DisSolver - A Distributed Constraints Reasoning Platform for Mobile Multi-robot Problems . In Proceedings of the 8th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART, ISBN 978-989-758-172-4, pages 304-310. DOI: 10.5220/0005833003040310


in Bibtex Style

@conference{icaart16,
author={Zakarya Erraji and Mounia Janah and Imade Benelallam and El Houssine Bouyakhf},
title={Mobile Robotic JChoc DisSolver - A Distributed Constraints Reasoning Platform for Mobile Multi-robot Problems},
booktitle={Proceedings of the 8th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,},
year={2016},
pages={304-310},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005833003040310},
isbn={978-989-758-172-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 8th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,
TI - Mobile Robotic JChoc DisSolver - A Distributed Constraints Reasoning Platform for Mobile Multi-robot Problems
SN - 978-989-758-172-4
AU - Erraji Z.
AU - Janah M.
AU - Benelallam I.
AU - Bouyakhf E.
PY - 2016
SP - 304
EP - 310
DO - 10.5220/0005833003040310