{"id":4015,"date":"2020-04-07T20:36:03","date_gmt":"2020-04-07T19:36:03","guid":{"rendered":"https:\/\/mecatron.rma.ac.be\/?page_id=4015"},"modified":"2020-06-11T11:23:08","modified_gmt":"2020-06-11T10:23:08","slug":"nmrs-2","status":"publish","type":"page","link":"https:\/\/mecatron.rma.ac.be\/index.php\/projects\/nmrs-2\/","title":{"rendered":"NMRS"},"content":{"rendered":"<p><section class=\"kc-elm kc-css-416500 kc_row\"><div class=\"kc-row-container  kc-container\"><div class=\"kc-wrap-columns\"><div class=\"kc-elm kc-css-146128 kc_col-sm-12 kc_column kc_col-sm-12\"><div class=\"kc-col-container\"><div class=\"kc-elm kc-css-861200\" style=\"height: 20px; clear: both; width:100%;\"><\/div><\/div><\/div><\/div><\/div><\/section><section class=\"kc-elm kc-css-582591 kc_row\"><div class=\"kc-row-container  kc-container\"><div class=\"kc-wrap-columns\"><div class=\"kc-elm kc-css-420415 kc_col-sm-3 kc_column kc_col-sm-3\"><div class=\"kc-col-container\"><div class=\"kc-elm kc-css-651741 kc_shortcode kc_single_image\">\n\n        <img decoding=\"async\" src=\"https:\/\/mecatron.rma.ac.be\/wp-content\/uploads\/2020\/04\/NMRS-logo.png\" class=\"\" alt=\"\" \/>    <\/div>\n<\/div><\/div><div class=\"kc-elm kc-css-88819 kc_col-sm-6 kc_column kc_col-sm-6\"><div class=\"kc-col-container\"><div class=\"kc-elm kc-css-10509 kc_text_block\"><\/p>\n<p>The project Networked Multi-Robot System (NM-RS) was the first Category B project contracted under the supervision and the coordination of the European Defence Agency. The participating member states (pMS) were Germany (as lead nation), Italy, Spain and Belgium.<\/p>\n<p>The NM-RS project started in June 2007 and was successfully terminated in July 2010. In these 36 months the NM-RS project team \u2013 consisting of industrial partners from four European Nations \u2013 realised within a simulation system a networked multi-robot system to evaluate the performance and the benefits of such a networked system performing autonomously coordinated operations.<\/p>\n<p>The industrial group consisted of:<\/p>\n<ul>\n<li>Diehl BGT Defence (main contractor) and Fraunhofer FKIE from Germany,<\/li>\n<li>OTO Melara together with Celin Avio and Scuola Superiore Sant\u2019Anna from Italy<\/li>\n<li>SENER and Universidad Polit\u00e9cnica de Madrid from Spain<\/li>\n<li>Patrimony of the Royal Military School (PRMS) from Belgium<\/li>\n<\/ul>\n<p>The main objective of the project was to<br \/>1. Focus on robots to reduce the risk of personal damage or loss of life<\/p>\n<p>2. Increase the efficiency for military operations i.e. reconnaissance, inspection and<br \/>security<\/p>\n<p>To reach the objectives within the given time and the financial volume the project NM-RS was realised in a simulation system. The lessons learned in realising NM-RS were thought to gain knowledge in the field of networked robot systems and to improve the initial knowledge for a possible hardware realisation.<\/p>\n<p>The requirement of a realistic performance in a simulation environment determined the simulation of all parts \u2013 i.e. the complete environment (including static and moving objects, enemy forces, civilians, etc.), the various robot platforms (including their realistic physics), all sensors (including all gathered sensor data and a learning system) and the communication itself (including a realistic communication model).<\/p>\n<p>The algorithms for the guidance, navigation and control of the robot platforms and the coordination of the multi-robot system (centralised as well as decentralised) are on the other hand real algorithms which are designed to use simulated as well as real sensor data. This allows the transfer of the NM-RS results into the real world and the implementation of the<br \/>NM-RS algorithms in existing hardware.<\/p>\n<p>\n<\/div><\/div><\/div><div class=\"kc-elm kc-css-421007 kc_col-sm-3 kc_column kc_col-sm-3\"><div class=\"kc-col-container\"><div class=\"kc-elm kc-css-49951 kc-icon-wrapper\">\n\t\t<i class=\"fa-euro-sign\"><\/i>\n\t<\/div>\n<div class=\"kc-elm kc-css-58976 kc_text_block\"><\/p>\n<p style=\"text-align: center;\">European Defence Agency<\/p>\n<p style=\"text-align: center;\">Category B project<\/p>\n<p style=\"text-align: center;\"><span style=\"font-style: inherit;\">2007 &#8211; 2010<\/span><\/p>\n<p>\n<\/div><div class=\"kc-elm kc-css-842177 kc_shortcode kc_single_image\">\n\n        <img decoding=\"async\" src=\"https:\/\/mecatron.rma.ac.be\/wp-content\/uploads\/2020\/04\/EDA.jpeg\" class=\"\" alt=\"\" \/>    <\/div>\n<div class=\"kc-elm kc-css-159855\" style=\"height: 20px; clear: both; width:100%;\"><\/div><div class=\"kc-elm kc-css-551430 kc-icon-wrapper\">\n\t\t<i class=\"ion-android-people\"><\/i>\n\t<\/div>\n<div class=\"kc-elm kc-css-695731 kc_text_block\"><\/p>\n<p style=\"text-align: center;\"><a style=\"font-style: inherit;\" href=\"https:\/\/mecatron.rma.ac.be\/index.php\/people\/daniela-doroftei\/\">Daniela Doroftei<\/a><\/p>\n<p style=\"text-align: center;\">Kristel Verbiest<\/p>\n<p style=\"text-align: center;\"><a href=\"https:\/\/mecatron.rma.ac.be\/index.php\/people\/eric-colon\/\">Eric Colon<\/a><\/p>\n<p style=\"text-align: center;\"><a href=\"mailto:yvan.baudoin@ici-belgium.be\">Yvan Baudoin<\/a><\/p>\n<p>\n<\/div><div class=\"kc-elm kc-css-195690\" style=\"height: 20px; clear: both; width:100%;\"><\/div><div class=\"kc-elm kc-css-925627 kc-icon-wrapper\">\n\t\t<i class=\"ion-ios-world-outline\"><\/i>\n\t<\/div>\n<div class=\"kc-elm kc-css-316161 kc_text_block\"><\/p>\n<p style=\"text-align: center;\"><a href=\"https:\/\/www.eda.europa.eu\/docs\/default-source\/projects\/nm-rs_es.pdf\">https:\/\/www.eda.europa.eu\/docs\/default-source\/projects\/nm-rs_es.pdf<\/a><\/p>\n<p>\n<\/div><\/div><\/div><\/div><\/div><\/section><section class=\"kc-elm kc-css-508831 kc_row\"><div class=\"kc-row-container  kc-container\"><div class=\"kc-wrap-columns\"><div class=\"kc-elm kc-css-318520 kc_col-sm-12 kc_column kc_col-sm-12\"><div class=\"kc-col-container\"><div class=\"kc-elm kc-css-7178\" style=\"height: 20px; clear: both; width:100%;\"><\/div><\/div><\/div><\/div><\/div><\/section><section class=\"kc-elm kc-css-190974 kc_row\"><div class=\"kc-row-container  kc-container\"><div class=\"kc-wrap-columns\"><div class=\"kc-elm kc-css-370230 kc_col-sm-12 kc_column kc_col-sm-12\"><div class=\"kc-col-container\">\n<div class=\"kc-elm kc-css-366359 kc-title-wrap \">\n\n\t<h4 class=\"kc_title\">Project Publications<\/h4>\n<\/div>\n<div class=\"kc-elm kc-css-678280 kc_text_block\"><\/p>\n<p><h3 class=\"papercite\">2011<\/h3>\n<ul class=\"papercite_bibliography\">\n<li>    D. Doroftei and E. Colon, &#8220;Decentralized multi-robot coordination for a risky surveillance application,\" in <span style=\"font-style: italic\">Proc. IARP HUDEM 2011<\/span>, Sibenik, Croatia,  2011.    <br \/>   <a href=\"javascript:void(0)\" id=\"papercite_0\" class=\"papercite_toggle\">[BibTeX]<\/a>      <a href=\"javascript:void(0)\" id=\"papercite_abstract_0\" class=\"papercite_toggle\">[Abstract]<\/a>         <a href=\"http:\/\/mecatron.rma.ac.be\/pub\/2011\/HUDEM2011_Doroftei_Colon.pdf\" title='Download PDF' class='papercite_pdf'>[Download PDF]<\/a><br \/>\n<blockquote class=\"papercite_bibtex\" id=\"papercite_abstract_0_block\">\n<p>This paper proposes a multi-robot control methodology that is based on a behavior-based control framework. In this behavior-based context, the robotic team members are controlled using one of 2 mutually exclusive behaviors: patrolling or intercepting. In patrol mode the robot seeks to detect enemy forces as rapidly as possible, by balancing 2 constraints: the intervention time should be minimized and the map coverage should be maximized. In interception mode, the robot tries to advance towards an enemy which was detected by one of the robotic team members. Subsequently, the robot tries to neutralize the threat posed by the enemy before enemy is able to reach the camp.<\/p>\n<\/blockquote>\n<div class=\"papercite_bibtex\" id=\"papercite_0_block\">\n<pre><code class=\"tex bibtex\">@InProceedings{doro2011decentralized,\nauthor = {Doroftei, Daniela and Colon, Eric},\nbooktitle = {Proc. {IARP} {HUDEM} 2011},\ntitle = {Decentralized multi-robot coordination for a risky surveillance application},\nyear = {2011},\npublisher = {{IARP}},\nabstract = {This paper proposes a multi-robot control methodology that is based on a behavior-based control framework. In this behavior-based context, the robotic team members are controlled using one of 2 mutually exclusive behaviors: patrolling or intercepting. In patrol mode the robot seeks to detect enemy forces as rapidly as possible, by balancing 2 constraints: the intervention time should be minimized and the map coverage should be maximized. In interception mode, the robot tries to advance towards an enemy which was detected by one of the robotic team members. Subsequently, the robot tries to neutralize the threat posed by the enemy before enemy is able to reach the camp. },\nproject = {NMRS},\naddress = {Sibenik, Croatia},\nurl = {http:\/\/mecatron.rma.ac.be\/pub\/2011\/HUDEM2011_Doroftei_Colon.pdf},\nunit= {meca-ras}\n}<\/code><\/pre>\n<\/p>\n<\/div>\n<\/li>\n<\/ul>\n<h3 class=\"papercite\">2010<\/h3>\n<ul class=\"papercite_bibliography\">\n<li>    D. Doroftei and E. Colon, &#8220;Decentralized Multi-Robot Coordination in an Urban Environment,\" <span style=\"font-style: italic\">European Journal of Mechanical en Environmental Engineering<\/span>, vol. 1, 2010.    <br \/>   <a href=\"javascript:void(0)\" id=\"papercite_1\" class=\"papercite_toggle\">[BibTeX]<\/a>      <a href=\"javascript:void(0)\" id=\"papercite_abstract_1\" class=\"papercite_toggle\">[Abstract]<\/a>         <a href=\"http:\/\/mecatron.rma.ac.be\/pub\/2010\/EJMEE2010_doroftei_colon.pdf\" title='Download PDF' class='papercite_pdf'>[Download PDF]<\/a><br \/>\n<blockquote class=\"papercite_bibtex\" id=\"papercite_abstract_1_block\">\n<p>In this paper, a novel control strategy is presented for multi\u2010robot coordination. An important aspect of the presented control architecture is that it is formulated in a decentralized context. This means that the robots cannot rely on traditional global path planning algorithms for navigation. The presented approach casts the multi\u2010robot control problem as a behavior\u2010based control problem.<\/p>\n<\/blockquote>\n<div class=\"papercite_bibtex\" id=\"papercite_1_block\">\n<pre><code class=\"tex bibtex\">@Article{doro2010decentralized,\nauthor = {Doroftei, Daniela and Colon, Eric},\njournal = {European Journal of Mechanical en Environmental Engineering},\ntitle = {Decentralized Multi-Robot Coordination in an Urban Environment},\nyear = {2010},\nvolume = {1},\nabstract = {In this paper, a novel control strategy is presented for multi\u2010robot coordination. An important aspect of the presented control architecture is that it is formulated in a decentralized context. This means that the robots cannot rely on traditional global path planning algorithms for navigation. The presented approach casts the multi\u2010robot control problem as a behavior\u2010based control problem. },\nproject = {NMRS},\naddress = {Sheffield, UK},\nurl = {http:\/\/mecatron.rma.ac.be\/pub\/2010\/EJMEE2010_doroftei_colon.pdf},\nunit= {meca-ras}\n}<\/code><\/pre>\n<\/p>\n<\/div>\n<\/li>\n<li>    D. Doroftei and E. Colon, &#8220;Multi-robot collaboration and coordination in a high-risk transportation scenario,\" in <span style=\"font-style: italic\">Proc. IARP HUDEM 2010<\/span>, Sousse, Tunisia,  2010.    <br \/>   <a href=\"javascript:void(0)\" id=\"papercite_2\" class=\"papercite_toggle\">[BibTeX]<\/a>      <a href=\"javascript:void(0)\" id=\"papercite_abstract_2\" class=\"papercite_toggle\">[Abstract]<\/a>         <a href=\"http:\/\/mecatron.rma.ac.be\/pub\/HUDEM\/HUDEM%20-%202010\/HUDEM2010_Doroftei.pdf\" title='Download PDF' class='papercite_pdf'>[Download PDF]<\/a><br \/>\n<blockquote class=\"papercite_bibtex\" id=\"papercite_abstract_2_block\">\n<p>This paper discusses a decentralized multi-robot coordination strategy which aims to control and guide a team of robotic agents safely through a hostile area. The \u201dhostility\u201d of the environment is due to the presence of enemy forces, seeking to intercept the robotic team. In order to avoid detection and ensure global team safety, the robotic agents must carefully plan their trajectory towards a list of goal locations, while holding a defensive formation.<\/p>\n<\/blockquote>\n<div class=\"papercite_bibtex\" id=\"papercite_2_block\">\n<pre><code class=\"tex bibtex\">@InProceedings{doro2001multi,\nauthor = {Doroftei, Daniela and Colon, Eric},\nbooktitle = {Proc. {IARP} {HUDEM} 2010},\ntitle = {Multi-robot collaboration and coordination in a high-risk transportation scenario},\nyear = {2010},\npublisher = {{IARP}},\nabstract = {This paper discusses a decentralized multi-robot coordination strategy which aims to control and guide a team of robotic agents safely through a hostile area. The \u201dhostility\u201d of the environment is due to the presence of enemy forces, seeking to intercept the robotic team. In order to avoid detection and ensure global team safety, the robotic agents must carefully plan their trajectory towards a list of goal locations, while holding a defensive formation. },\nproject = {NMRS},\naddress = {Sousse, Tunisia},\nurl = {http:\/\/mecatron.rma.ac.be\/pub\/HUDEM\/HUDEM%20-%202010\/HUDEM2010_Doroftei.pdf},\nunit= {meca-ras}\n}<\/code><\/pre>\n<\/p>\n<\/div>\n<\/li>\n<li>    D. Doroftei and E. Colon, &#8220;Decentralized Multi-Robot Coordination for Risky Interventions,\" in <span style=\"font-style: italic\">Fourth International Workshop on Robotics for risky interventions and Environmental Surveillance-Maintenance RISE<\/span>, Sheffield, UK,  2010.    <br \/>   <a href=\"javascript:void(0)\" id=\"papercite_3\" class=\"papercite_toggle\">[BibTeX]<\/a>      <a href=\"javascript:void(0)\" id=\"papercite_abstract_3\" class=\"papercite_toggle\">[Abstract]<\/a>         <a href=\"http:\/\/mecatron.rma.ac.be\/pub\/RISE\/RISE%20-%202010\/Decentralized%20Multi-Robot%20Coordination%20for%20Risky%20Interventio.pdf\" title='Download PDF' class='papercite_pdf'>[Download PDF]<\/a><br \/>\n<blockquote class=\"papercite_bibtex\" id=\"papercite_abstract_3_block\">\n<p>The paper describes an approach to design a behavior-based architecture, how each behavior was designed and how the behavior fusion problem was solved.<\/p>\n<\/blockquote>\n<div class=\"papercite_bibtex\" id=\"papercite_3_block\">\n<pre><code class=\"tex bibtex\">@InProceedings{doro2010multibis,\nauthor = {Doroftei, Daniela and Colon, Eric},\nbooktitle = {Fourth International Workshop on Robotics for risky interventions and Environmental Surveillance-Maintenance {RISE}},\ntitle = {Decentralized Multi-Robot Coordination for Risky Interventions},\nyear = {2010},\nabstract = {The paper describes an approach to design a behavior-based architecture, how each behavior was designed and how the behavior fusion problem was solved.},\nproject = {NMRS, ViewFinder},\naddress = {Sheffield, UK},\nurl = {http:\/\/mecatron.rma.ac.be\/pub\/RISE\/RISE%20-%202010\/Decentralized%20Multi-Robot%20Coordination%20for%20Risky%20Interventio.pdf},\nunit= {meca-ras}\n}<\/code><\/pre>\n<\/p>\n<\/div>\n<\/li>\n<\/ul>\n<p>\n<\/div><\/div><\/div><\/div><\/div><\/section><section class=\"kc-elm kc-css-46334 kc_row\"><div class=\"kc-row-container  kc-container\"><div class=\"kc-wrap-columns\"><div class=\"kc-elm kc-css-371627 kc_col-sm-12 kc_column kc_col-sm-12\"><div class=\"kc-col-container\"><div class=\"kc-elm kc-css-746369\" style=\"height: 20px; clear: both; width:100%;\"><\/div><\/div><\/div><\/div><\/div><\/section><\/p>\n","protected":false},"excerpt":{"rendered":"","protected":false},"author":1,"featured_media":4018,"parent":2797,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-4015","page","type-page","status-publish","has-post-thumbnail","hentry"],"_links":{"self":[{"href":"https:\/\/mecatron.rma.ac.be\/index.php\/wp-json\/wp\/v2\/pages\/4015","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mecatron.rma.ac.be\/index.php\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mecatron.rma.ac.be\/index.php\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mecatron.rma.ac.be\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/mecatron.rma.ac.be\/index.php\/wp-json\/wp\/v2\/comments?post=4015"}],"version-history":[{"count":7,"href":"https:\/\/mecatron.rma.ac.be\/index.php\/wp-json\/wp\/v2\/pages\/4015\/revisions"}],"predecessor-version":[{"id":4238,"href":"https:\/\/mecatron.rma.ac.be\/index.php\/wp-json\/wp\/v2\/pages\/4015\/revisions\/4238"}],"up":[{"embeddable":true,"href":"https:\/\/mecatron.rma.ac.be\/index.php\/wp-json\/wp\/v2\/pages\/2797"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/mecatron.rma.ac.be\/index.php\/wp-json\/wp\/v2\/media\/4018"}],"wp:attachment":[{"href":"https:\/\/mecatron.rma.ac.be\/index.php\/wp-json\/wp\/v2\/media?parent=4015"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}