Institutional Robotics for Socially Aware Multi-Robot Systems

Bridging the gap between human-aware behaviors and multi-robot navigation is a challenging problem whose solution is still in its infancy. To the best of our knowledge, up to the date no study on human-aware robot formations has been carried out. We propose an Institutional Robotics (IR) approach to socially-aware multi-robot systems (MRIs), where cooperation among the robots as well as their social interactions with humans are guided using Institutions – coordination artifacts specifying behavioral rules and norms that are acceptable and desirable given the situation.

This research project was part of the European project MOnarCH from August 2014 to March 2016.

Team and Collaborators

In collaboration with:

Research Period and Sponsors

This project started in August 2014 and is still ongoing.

Supported by ISR/LARSyS Strategic Funds from FCT project FCT[UID/EEA/5009/2013] and FCT/11145/12/12/2014/S.

DISAL-MP27: Emil Bryngelsson, Distributed Multi-Robot Coverage in Realistic Environments

DISAL-SP87: Arnaud Wald, Social awareness in multi-robot systems – An institutional approach to robotic formations

DISAL-SP116: Lucas Burget, Normative Multi-Robot Navigation in Crowds

DISAL-SP115: Michael Spahr, Distributed Formations With Non-Cooperative Human Agents

Videos

 

Publications

2020

A robust localization system for multi-robot formations based on an extension of a Gaussian mixture probability hypothesis density filter

A. Wasik; P. U. Lima; A. Martinoli 

Autonomous Robots. 2020. Vol. 44, p. 395–414. DOI : 10.1007/s10514-019-09860-5.

2018

Towards Institutions for Mixed Human-Robot Societies

S. Tomic; A. Wasik; P. U. Lima; A. Martinoli; F. Pecora et al. 

2018-01-01. 17th International Conference on Autonomous Agents and MultiAgent Systems (AAMAS), Stockholm, SWEDEN, Jul 10-15, 2018. p. 2216-2217.

Towards Norm Realization in Institutions Mediating Human-Robot Societies

A. B. Wasik; S. Tomic; A. Saffiotti; F. Pecora; A. Martinoli et al. 

2018. IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, October, 1- 5, 2018. p. 297-304. DOI : 10.1109/IROS.2018.8594079.

Towards Institutions for Mixed Human-Robot Societies

S. Tomic; A. B. Wasik; P. U. Lima; A. Martinoli; F. Pecora et al. 

2018. 7th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2018), Stockholm, Sweden, July 10–15, 2018. p. 2216-2217.

2017

An Institutional Robotics Approach to the Design of Socially Aware Multi-Robot Behaviors

A. B. Wasik; A. Martinoli; P. U. Lima 

2017. RO-MAN 2017 Workshop on Towards Intelligent Social Robots: Social Cognitive Systems in Smart Environments, Lisbon, Portugal, August 2017. p. 2-7. DOI : 10.13140/RG.2.2.13129.03683.

A Robust Relative Positioning System for Multi-Robot Formations Leveraging an Extended GM-PHD Filter

A. B. Wasik; A. Martinoli; P. U. Lima 

2017. Multi-Robot and Multi-Agent Systems (MRS), 2017 International Symposium on, Los Angeles, CA, USA, 4-5 Dec. 2017. p. 71-77. DOI : 10.1109/MRS.2017.8250933.

2016

Graph-Based Distributed Control for Adaptive Multi-Robot Patrolling through Local Formation Transformation

A. B. Wasik; J. N. Ferreira Maia Pereira; R. Ventura; P. U. Lima; A. Martinoli 

2016. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Korea, October 9-14, 2016. p. 1721-1728. DOI : 10.1109/IROS.2016.7759276.

2015

Lidar-Based Relative Position Estimation and Tracking for Multi-Robot Systems

A. B. Wasik; R. Ventura; J. N. Pereira; P. U. Lima; A. Martinoli 

2015. ROBOT’2015 – Second Iberian Robotics Conference, Lisbon, November 19-21, 2015. p. 3-16. DOI : 10.1007/978-3-319-27146-0_1.