Dark-Room Exchange: Human Supervision of Decentralized Multi-Robot Systems Using Distributed Ledgers and Network Mapping

Saiprasanth Krishnamoorthy, Albert P. Go, Ashlee Tiwari, Vikram Kapila

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper develops a distributed technique to populate the network graph of a decentralized multi-robot system (MRS) by employing a consensus protocol for extracting the identities and states of each robot's neighbors in the MRS. A dark-room exchange (DRE) technique is proposed wherein each robot uses its on-board 2D LiDAR for range sensing and peer-to-peer communication to identify and track neighboring objects. The resulting information is utilized to build and maintain a distributed ledger populated with the information of the MRS network graph structure to facilitate supervision by human operators. The system is tested in a simulated environment consisting of TurtleBot3 robots scattered in a 2D plane. Using the results of simulation, an analysis of the speed and performance of the DRE technique is conducted that illustrates high reliability and fast response times. The paper concludes with a discussion of the future scope of this research for multi-robot/swarm applications.

Original languageEnglish (US)
Title of host publication2019 28th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728126227
DOIs
StatePublished - Oct 2019
Event28th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2019 - New Delhi, India
Duration: Oct 14 2019Oct 18 2019

Publication series

Name2019 28th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2019

Conference

Conference28th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2019
CountryIndia
CityNew Delhi
Period10/14/1910/18/19

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Optimization

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