Publisher: Multidisciplinary Digital Publishing Institute
Project: EC | TAILOR (952215)
Complex service robotics scenarios entail unpredictable task appearance both in space and time. This requires robots to continuously relocate and imposes a trade-off between motion costs and efficiency in task execution. In such scenarios, multi-robot systems and even swarms of robots can be exploited to service different areas in parallel. An efficient deployment needs to continuously determine the best allocation according to the actual service needs, while also taking relocation costs into account when such allocation must be modified. For large scale problems, centrally predicting optimal allocations and movement paths for each robot quickly becomes infeasible. Instead, decentralized solutions are needed that allow the robotic system to self-organize and adaptively respond to the task demands. In this paper, we propose a distributed and asynchronous approach to simultaneous task assignment and path planning for robot swarms, which combines a bio-inspired collective decision-making process for the allocation of robots to areas to be serviced, and a search-based path planning approach for the actual routing of robots towards tasks to be executed. Task allocation exploits a hierarchical representation of the workspace, supporting the robot deployment to the areas that mostly require service. We investigate four realistic environments of increasing complexity, where each task requires a robot to reach a location and work for a specific amount of time. The proposed approach improves over two different baseline algorithms in specific settings with statistical significance, while showing consistently good results overall. Moreover, the proposed solution is robust to limited communication and robot failures.
Iniziativa social di Istituto #ISPConAIR effettuato il 25 febbraio 2021 sulla piattaforma Zoom. Attualmente riproducibile sul canale YouTube ISPC. From the Digitalisation to the Virtual Reconstruction and Sound Simulation of Ancient Musical Instruments: Methods, Results, Perspectives. How might using computational methods for processing the 3D models allow for a more accurate analysis of surfaces, volumes, internal structures, and density of materials of ancient instruments? How might these methods enable a non-invasive study of the instruments' measurements and morphology, overcoming the limitations posed by their fragility? These are the topics of the webinar "From the Digitalisation to the Virtual Reconstruction and Sound Simulation of Ancient Musical Instruments: Methods, Results, Perspectives" which will take place on Thursday, 25th February 2021 on Zoom. This webinar aims to discuss how digital technologies based on 3D modelling and sound simulation can expand our knowledge of ancient musical instruments. As it has emerged from the STESICHOROS project - which has been funded by the European Commission's Marie Sk?odowska-Curie Actions programme -, studies on 3D virtual reconstructions and sound simulations can help us in defining novel approaches and methodologies not only for the "active preservation" of musical instruments, but also in enriching our understanding of ancient music and musical cultural heritage. Although reconstructions cannot tell us unequivocally how ancient users and audiences perceived the sounds of these instruments, they offer the chance to break through the time barrier by reviving sound emissions. By combining optical metrology with computational analysis, some of the subjective observations on ancient instruments can be substituted by measurable parameters, opening up new perspectives for the study of sounds and the artisan production process of ancient instruments. Moreover, the webinar aims to explore the ancient sonic interactions and the spatial configuration of sanctuaries and theatres in their respective landscapes and environment in order to investigate the use of auralisation technology in the archaeological field, as well as experimental interpretative 3D reconstruction integrating acoustic models. These topics will be addressed through the contributions of scholars working in various fields, including: archaeology, archaeomusicology, information engineering, interactive museums, musical heritage, physics, and virtual heritage. The programme of the webinar here: https://drive.google.com/file/d/1Nmg9CUDX3cBnYwRjlmlGzBX3rp0COQsc/view?usp=sharing The event: https://www.eventbrite.it/e/ancient-musical-instruments-methods-results-perspectives-tickets-139650042035#
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