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Human guided cooperative robotic agents in smart home using beetle antennae search

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Abstract

In this paper, we propose a control framework for cooperative robotic agents, which constitutes an essential component in the construction of futuristic smart-homes. Such agents assist humans in efficiently completing household chores. Usability, human friendliness, autonomy, and intelligent decision-making are the top considerations for designing such a system along with reliability, accuracy, and efficiency. Implementing a distributed control algorithm considering these goals is a complicated task since classical control frameworks focus on specialized robots working in an industrial environment and do not capture unique features of the home environment. For example, a household robotic agent needs to perform several general-purpose tasks without assuming that the user has specialized training similar to an industrial operator. Since the challenges and goals in designing a household robotic agent are different, there is a need for a control framework centered around the required goals. The proposed control framework considers the collision problem between several cooperative robotic agents while assisting the human user. We propose an optimization-driven approach to avoid static and dynamic obstacles present in the environment while simultaneously controlling the robots as commanded by the user. We formulate the optimization problem that incorporates the required goals and then use a neural network to solve the optimization problem efficiently. The neural network, beetle antennae search zeroing neural network (BASZNN), is inspired by the natural behavior of beetles. It solves the optimization problem in a gradient-free manner contributing to the computational efficiency of the neural network. Additionally, the distributed-processing capability of the neural networks contributes to computational efficiency and matches the distributed nature of the underlying problem. For testing the performance of BASZNN, we use V-REP and MATLAB to simulate a household environment. Three cooperative agents (KUKA LBR IIWA 7 mounted on P3-DX) assist a person in moving a table around the room. The simulation results show that the BASZNN can accurately and robustly accomplish the required task.

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Acknowledgements

This work was partially supported by CAAIXSJLJJ-2020-012A.

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Authors and Affiliations

  1. Department of Computing, The Hong Kong Polytechnic University, Hong Kong, 999077, China

    Ameer Tamoor Khan

  2. School of Information Science and Engineering, Lanzhou University, Lanzhou, 730000, China

    Shuai Li

  3. School of Management, Shanghai University, Shanghai, 201900, China

    Xinwei Cao

Authors
  1. Ameer Tamoor Khan
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  2. Shuai Li
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  3. Xinwei Cao
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Corresponding authors

Correspondence to Shuai Li or Xinwei Cao.

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Khan, A.T., Li, S. & Cao, X. Human guided cooperative robotic agents in smart home using beetle antennae search. Sci. China Inf. Sci. 65, 122204 (2022). https://doi.org/10.1007/s11432-020-3073-5

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  • DOI: https://doi.org/10.1007/s11432-020-3073-5

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