• 한국컴퓨터정보학회논문지
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• 제29권1호
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• pp.11-19
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• 2024

멀티에이전트는 전장 교전 상황, 무인 운송 차량 등 다양한 실제 협동 환경에 사용될 수 있다. 전장 교전 상황에서는 도메인 정보의 제한으로 즉각적인 보상(Dense Reward) 설계의 어려움이 있어 명백한 희소 보상(Sparse Reward)으로 학습되는 상황을 고려해야 한다. 본 논문에서는 전장 교전 상황에서의 아군 에이전트 간 협업 가능성을 확인하며, 희소 보상 환경인 Multi-Robot Warehouse Environment(RWARE)를 활용하여 유사한 문제와 평가 기준을 정의하고, 강화학습 라이브러리인 Ray RLlib의 QMIX 알고리즘을 사용하여 학습 환경을 구성한다. 정의한 문제에 대해 QMIX의 Agent Network를 개선하고 Random Network Distillation(RND)을 적용한다. 이를 통해 에이전트의 부분 관측값에 대한 패턴과 시간 특징을 추출하고, 에이전트의 내적 보상(Intrinsic Reward)을 통해 희소 보상 경험 획득 개선이 가능함을 실험을 통해 확인한다.

• 한국인터넷방송통신학회논문지
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• 제19권6호
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• pp.47-55
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• 2019

제조 패러다임 변화에 따라 다양한 협동로봇이 신규시장을 창출하고 있다. 협동로봇은 기존 산업용 로봇 대비 쉬운 운용, 생산성 향상, 단순 작업을 하는 인력을 대체하는 목적으로 모든 산업에서 협동로봇의 수요가 증가하고 있다. 그러나 산업현장에서 협동로봇으로 인한 작업 중 사고가 빈번하게 발생하고 있으며, 작업자의 안전을 위협하고 있다. 인간 중심의 환경에서 로봇을 통한 산업현장이 구성되려면 작업자의 안전을 보장해야 하며 출동 가능성을 업애고 신뢰할 수 있는 통신을 하는 협동로봇 가드 시스템의 개발의 필요성이 있다. 센서 및 컴퓨터 비전을 통해 협동로봇의 작업 반경 내에서 발생하는 사고를 이중으로 방지하고 안전사고 위험을 감소시켜야 한다. 다양한 산업용 장비와 통신을 위한 국제 프로토콜인 OPC UA를 기반으로 시스템을 구축하고 초음파 센서와 CNN(Convolution Neural Network)적용한 영상 분석을 통한 협동로봇 가드 시스템을 제안한다. 제안 된 시스템은 작업자의 불안전한 상황에서 로봇 제어의 가능성을 평가한다.

• Journal of Electrical Engineering and Technology
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• 제6권6호
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• pp.806-816
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• 2011

Interest about social security has recently increased in favor of safety for infrastructure. In addition, advances in computer vision and pattern recognition research are leading to video-based surveillance systems with improved scene analysis capabilities. However, such video surveillance systems, which are controlled by human operators, cannot actively cope with dynamic and anomalous events, such as having an invader in the corporate, commercial, or public sectors. For this reason, intelligent surveillance systems are increasingly needed to provide active social security services. In this study, we propose a core technique for intelligent surveillance system that is based on swarm robot technology. We present techniques for invader enclosing using swarm robots based on multiple distributed object environment. The proposed methods are composed of three main stages: location estimation of the object, specified object tracking, and decision of the cooperative behavior of the swarm robots. By using particle filter, object tracking and location estimation procedures are performed and a specified enclosing point for the swarm robots is located on the interactive positions in their coordinate system. Furthermore, the cooperative behaviors of the swarm robots are determined via the result of path navigation based on the combination of potential field and wall-following methods. The results of each stage are combined into the swarm robot-based invader-enclosing technique on multiple distributed object environments. Finally, several simulation results are provided to further discuss and verify the accuracy and effectiveness of the proposed techniques.

• 한국컴퓨터정보학회논문지
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• 제16권8호
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• pp.67-76
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• 2011

본 논문은 초등학교 정규교과에서 로봇활용수업의 효과 분석을 위해 교과별 목표 달성에 적합한 로봇 및 PC연동 어플리케이션을 개발하고 수업적용을 통해 학습자의 반응을 살펴보았다. 연구결과 사후 이미지 프로파일의 대부분의 항목에서 로봇에 대한 긍정적인 응답이 나타났으며 특히, '이론적-실천적', '비협동적-협동적' 두 항목에서 유의미한 차이가 발견되었다(p<.05). 또한 학습자가 그린 사후 이미지 분석 결과 사전에 비해 구체적인 학습상황과 연계된 로봇 이미지가 형성된 것으로 나타났다. “로봇활용수업”에 대한 학습자 인식을 살펴보기 위한 면담결과 로봇의 직 간접 체험 모두 긍정적인 학습참여를 유도하고 실제적 학습경험을 제공하였다고 나타내었다. 또한 로봇활용수업을 통해 모둠 구성원과 자연스러운 협력활동이 관찰되었고 학생들도 동료와 협력활동에 대해 긍정적으로 인식하고 있었다. 이와 같은 결과는 로봇활용 교육이 새로운 학습 패러다임으로서의 가능성을 보여준다고 볼 수 있다.

• 로봇학회논문지
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• 제2권4호
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• pp.317-326
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• 2007

Recently, robotic automation in clinical laboratory becomes of keen interest as a fusion of bio and robotic technology. In this paper, we present a new robotic platform for clinical tests suitable for small or medium sized laboratories using mobile robots. The mobile robot called Mobile Agent is designed as transfer system of blood samples, reagents, microplates, and any instruments. Also, the developed mobile agent can perform diverse tests simultaneously based on its cooperative and distributed ability. The driving circuits for the mobile agent are embedded in the robot, and each mobile agent communicates with other agents by using Bluetooth communication. The RFID system is used to recognize patient information. Also, the magnetic hall sensor is embedded to remove and compensate the cumulated error of locomotion at the bottom of mobile agent. The proposed mobile agent can be easily used for various applications because it is designed to be compatible with general software development tools. The Mobile agents are manufactured, and feasibility of the robot and localization of the agents using magnetic hall sensor are validated by preliminary experiments.

• 제어로봇시스템학회논문지
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• 제18권12호
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• pp.1122-1131
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• 2012

This paper presents obstacle avoidance method for scout robot or industrial robot in unknown environment by using IR sensor and vision system. In the proposed method, robots share the information where the obstacles are located in real-time, thus the robots can choose the best path for obstacle avoidance. Using IR sensor and vision system, multiple robots efficiently evade the obstacles by the proposed cooperation method. No landmark is used at wall or floor in experiment environment. The obstacles don't have specific color or shape. To get the information of the obstacle, vision system extracts the obstacle coordinate by using an image labeling method. The information obtained by IR sensor is about the obstacle range and the locomotion direction to decide the optimal path for avoiding obstacle. The experiment was conducted in $7m{\times}7m$ indoor environment with two-wheeled mobile robots. It is shown that multiple robots efficiently move along the optimal path in cooperation with each other in the space where obstacles are located.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 2000년도 THE THIRD INTERNATIONAL CONFERENCE ON AGRICULTURAL MACHINERY ENGINEERING. V.II
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• pp.307-312
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• 2000

This study was carried out to develop an automatic grafting system suitable for fruit-vegetable seedlings. The study consisted of two research sections: 1) development of a medium-sized, low-cost automatic grafting system for cooperative farms and commercial seedlings production company, and 2) commercializing research for prototype development based on the above concepts. The grafting robot developed in this research can be described as follows, a. Developed grafting robot can cover the whole operations for grafting scion and rootstock, only if operator provides scion and rootstock tray. b. Five seedlings can be grafted at one time, and about 1,200 seedlings can be grafted in one hour. c. The success ratio of mechanical grafting scion and rootstock with ceramic pin bonding provided by the holder is more than 95% when the conditions of seedlings are satisfied. d. The grafting efficiency has improved over 10 times compared with manual work, and the grafting cost generated 44% savings.

• ETRI Journal
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• 제37권5호
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• pp.1032-1043
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• 2015

ETRI's Co-Pilot project is aimed at the development of an automated vehicle that cooperates with a driver and interacts with other vehicles on the road while obeying traffic rules without collisions. This paper presents a core block within the Co-Pilot system; the block is named "Co-Pilot agent" and consists of several main modules, such as road map generation, decision-making, and trajectory generation. The road map generation builds road map data to provide enhanced and detailed map data. The decision-making, designed to serve situation assessment and behavior planning, evaluates a collision risk of traffic situations and determines maneuvers to follow a global path as well as to avoid collisions. The trajectory generation generates a trajectory to achieve the given maneuver by the decision-making module. The system is implemented in an open-source robot operating system to provide a reusable, hardware-independent software platform; it is then tested on a closed road with other vehicles in several scenarios similar to real road environments to verify that it works properly for cooperative driving with a driver and automated driving.

• 한국지능시스템학회논문지
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• 제22권6호
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• pp.687-693
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• 2012

본 논문에서는 군집로봇의 효과적인 협조탐색을 위한 탐색영역에 대한 군집로봇의 최적배치을 제안한다. 먼저, 탐색영역에 대한 최적의 배치를 위해 보로노이 테셀레이션과 K-mean 알고리즘을 이용하여 탐색영역을 분할한다. 분할된 영역을 안전한 주행을 위해 전역경로계획과 지역경로계획을 한다. 전역경로계획은 A*알고리즘을 이용하여 전역경로계획을 하여 최적의 전역경로를 찾고, 지역경로계획은 포텐셜 필드방법을 이용하여 장애물 회피 통해 안전하게 목표점에 이르게 한다. 마지막으로 제안한 알고리즘은 시물레이션을 통해 그 응용가능성을 검토한다.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제5권2호
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• pp.151-156
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• 2005

This paper proposes a Distributed Autonomous Robotic System(DARS) based on an Artificial Immune System(AIS) and a Classifier System(CS). The behaviors of robots in the system are divided into global behaviors and local behaviors. The global behaviors are actions to search tasks in given environment. These actions are composed of two types: aggregation and dispersion. AIS decides one among these two actions, which robot should select and act on in the global. The local behaviors are actions to execute searched tasks. The robots learn the cooperative actions in these behaviors by the CS in the local one. The proposed system will be more adaptive than the existing system at the viewpoint that the robots learn and adapt the changing of tasks.