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Ahmed Sadik, Christian Goerick, Manuel Mühlig , "Modeling and Simulation of a Multi-Robot System Architecture", 2019 International Conference on Mechatronics, Robotics and Systems Engineering, 2020.
AbstractA Multi-Robot System (MRS) is the infrastructure of an intelligent cyber-physical system, where the robots understand the need of the human, and hence cooperate together to fulfill this need. Modeling the MRS is a crucial aspect of designing the proper system architecture, because this model can be used to simulate and measure the performance of the proposed architecture. However, an MRS architecture modeling is a very difficult problem, as it co...
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Matti Krüger, Tom Driessen, Christiane Wiebel, Joost de Winter, Heiko Wersing , "Feeling Uncertain: Effects of a Vibrotactile Belt that Communicates Vehicle Sensor Uncertainty", MDPI Information Special Issue "Test and Evaluation Methods for Human-Machine Interfaces of Automated Vehicles", vol. 11, 2020.
AbstractWith the rise of partially automated cars, drivers are more and more required to judge the degree of responsibility that can be delegated to vehicle assistant systems. This can be supported by utilizing interfaces that intuitively convey real-time reliabilities of system functions such as environment sensing. We designed a vibrotactile interface that communicates spatiotemporal information about surrounding vehicles and encodes a representation...
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Martin Suesskraut and Jens Schmüdderich , "Development Process for Production Ready Software based on R&D Projects", HRI-EU, 2020.
AbstractThe financial costs of software bugs do not require a motivation [51]. Especially in safety critical and cybersecurity critical systems the risk of failures and, hence, harm to people must be reduced to a negligible level. The standards for developing safety critical software and standards for cybersecurity critical software solve the problem of software bugs by requiring a structured software development process using state-of-th...
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Samuele Vinanzi, Angelo Cangelosi, Christian Goerick , "The Role of Social Cues for Goal Disambiguation in Human-Robot Cooperation", RO-MAN 2020, 2020.
AbstractSocial interaction is the new frontier in contemporary robotics: we want to build robots which blend with ease into our daily, social environments, with their principles and rules. The cognitive skill that bootstraps social awareness in humans is known as intention reading and allows us to interpret other agents actions and assign them meaning. Given its centrality for humans, it is likely that intention reading will foster the development of ...
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Chao Wang, Thomas H Weisswange, Matti Krüger, Christiane Wiebel , "Human-Vehicle Cooperation on Prediction-Level: Enhancing Automated Driving with Human Foresight ", IV 2021, 2020.
AbstractTo maximize safety and driving comfort, autonomous driving systems can benefit from implementing foresighted action choices that take different potential scenario developments into account. While artificial scene prediction methods are making fast progress, an attentive human driver may still be able to identify relevant contextual features which are not adequately considered by the system or for which the human driver may have a lack of trust e ...
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Ahmad Reza Cheraghi, Gorden Wunderlich, Kalman György Graffi , "General Coating of Arbitrary Objects Using Robot Swarms", 5th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS 2020), 2020.
Abstract(Nano) robot swarms promise new applications in the field of health and entertainment. One of the tasks such a swarm could solve is coating, in which the robots in the swarm locate themselves as close to an object of arbitrary shape as possible. In this paper, we present a swarm coating algorithm for simple robots using only local communication and decentralized coordination only. The robots calculate distances to the coating target object for th...
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Ahmad Reza Cheraghi, Asma Ben Janete, Kalman György Graffi , "Robot Swarm Flocking on a 2D Triangular Graph", 5th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS 2020), 2020.
AbstractFlocking behavior in swarms is phenomenal. Many small entities are interacting to form a large shape and to protect themselves from bigger entities. An examples are fish, they become a flock to be safe from predators. The way of how flocks move without getting separated, having a constant speed and not interfering each other is known as the flocking problem. In this paper, we build up a the three-zones flocking model on a two dimensional triangul...
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Ahmad Reza Cheraghi and Kalman György Graffi , "A Leader Based Coating Algorithm for Simple and Cave Shaped Objects with Robot Swarms", 5th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS 2020), 2020.
AbstractSelf-organizing swarm systems promise an essential progress in several research areas. They can find application in health context, such as through nano-robots, or material context, such as for health-healing properties. Swarm behavior in nature is well known e.g. bird flocks that protect individual birds, ants that collaboratively transport bigger objects, or predators who hunt in packs. Applying these strategies to future robot swarms promises ...
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Ahmad Reza Cheraghi, Julian Zenz, Kalman György Graffi , "Opportunistic Network Behavior in Swarms: Passing Messages to Destination", 5th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS 2020), 2020.
AbstractThis paper evaluates and compares two routing algorithms for message passing in opportunistic peer-to-peer networks in the swarm network simulator Swarm-Sim. The two considered algorithms, Epidemic Routing and PRoPHET Routing, are compared in terms of delivery rates, efficiency and overhead, while presenting different mobility models. By this, we combine a variation of mobility models and a set of communication protocols, measuring their impact o...
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Ahmad Reza Cheraghi, Fabio Schlösser Vila, Kalman György Graffi , "Phototactic Movement of Battery-Powered and Self-Charging Robot Swarms", 5th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS 2020), 2020.
AbstractIn biology, phototaxing is one of the many forms of directed motions that organisms can exhibit. If stimulated by light, these organisms can move towards or away from the source. In this paper we present an algorithm that is reliably capable of moving a swarm of virtual robots away from a light source, all while the individual virtual robots are incapable of determining the direction and origin of the light source. The individual agents cannot ge...
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