公开(公告)号：US20230311312A1

公开(公告)日：2023-10-05

申请号：US18193901

申请日：2023-03-31

Applicant: University of South Florida

Inventor： Zixiang Nie ,  Kwang-Cheng Chen

IPC: B25J9/16

CPC classification number: B25J9/163 ,  B25J9/161 ,  B25J9/1653 ,  B25J9/1682

Abstract: A system and methods for operating a multi-robot system (MRS) are disclosed. In some aspects, each robot of the MRS can: determine a local system regret state belief based on local evidence obtained by the robot itself and social evidence provided by other robots in a social community, determine a local system drift state belief based on the local system regret state belief, determine a next action based on the based on the local system regret state belief and the local system drift state belief, and execute the next action. Local system regret state belief is generally an estimation of a system regret state for the MRS. Local system drift state belief is generally an estimate of a system drift state for the MRS.

公开(公告)号：US12282314B2

公开(公告)日：2025-04-22

申请号：US17587532

申请日：2022-01-28

Applicant: University of South Florida

Inventor： Zixiang Nie ,  Kwang-Cheng Chen

IPC: G05B19/418 ,  G06N5/01

Abstract: Task assignment for multi-robot systems (MRSs) in a smart factory (Industry 4.0) is described. Aspects are directed to a hypergraph based MRS and production model facilitating the cooperation among robots and serving frequent reconfiguration desired in Industry 4.0. Aspects are directed to a time complexity friendly search algorithm for real-time application using a hypergraph model to get task assignment(s). Parameters are provided for a tradeoff between solution optimality and time complexity. In an implementation, an example system can include a MRS including robots, wherein the MRS is configured to perform a manufacturing task, and a computing device configure to perform a multi-robot task allocation (MRTA) for the MRS. In an implementation, an example method can include generating task assignments, using MRTA, for robots of a MRS including the robots, wherein the MRS is configured to perform a manufacturing task, and providing the task assignments to the MRS.

公开(公告)号：US20250062896A1

公开(公告)日：2025-02-20

申请号：US18809169

申请日：2024-08-19

Applicant: University of South Florida

Inventor： Zixiang Nie ,  Kwang-Cheng Chen

IPC: H04L9/08 ,  H04L9/00 ,  H04L9/06

Abstract: An example system and method that can provide integrity and privacy-preserving communication and integrated operation in smart factory and other IOT applications using smart contracts in blockchain and Merkle Tree-based key management operations. The exemplary Merkle tree-based key management can ensure all communication, control operations, and shared models (e.g., Federated Learning models) are encrypted prior to transmission and sharing with other nodes in the network, with keys being split into parts to each of multiple recipients and later assembled to allow blocking consensus/validation to be performed.

公开(公告)号：US20240319750A1

公开(公告)日：2024-09-26

申请号：US18615252

申请日：2024-03-25

Applicant: University of South Florida

Inventor： Zixiang NIE ,  Kwang-Cheng Chen

IPC: G05D1/698 ,  G05D1/644 ,  G05D1/667 ,  G05D101/15 ,  G05D107/70

CPC classification number: G05D1/6983 ,  G05D1/644 ,  G05D1/667 ,  G05D2101/15 ,  G05D2107/70

Abstract: A system and methods for operating a multi-robot system (MRS) are disclosed. An example method can include receiving at least one transportation task; determining an optimal path for executing the at least one transportation task based at least in part on: (i) one or more transportation task parameters, (ii) a shared global critic function accessible to the first robot and the at least one additional robot, and (iii) a local critic function unique to the first robot; and executing the at least one transportation task in accordance with the determined optimal path.

公开(公告)号：US20220253048A1

公开(公告)日：2022-08-11

申请号：US17587532

申请日：2022-01-28

Applicant: University of South Florida

Inventor： Zixiang Nie ,  Kwang-Cheng Chen

IPC: G05B19/418 ,  G06N5/00

Abstract: Task assignment for multi-robot systems (MRSs) in a smart factory (Industry 4.0) is described. Aspects are directed to a hypergraph based MRS and production model facilitating the cooperation among robots and serving frequent reconfiguration desired in Industry 4.0. Aspects are directed to a time complexity friendly search algorithm for real-time application using a hypergraph model to get task assignment(s). Parameters are provided for a tradeoff between solution optimality and time complexity. In an implementation, a system comprises a MRS comprising robots, wherein the MRS is configured to perform a manufacturing task, and a computing device configure to perform a multi-robot task allocation (MRTA) for the MRS. In an implementation, a method comprises generating task assignments, using MRTA, for robots of a MRS comprising the robots, wherein the MRS is configured to perform a manufacturing task, and providing the task assignments to the MRS.

公开(公告)号：US11128391B1

公开(公告)日：2021-09-21

申请号：US17104764

申请日：2020-11-25

Applicant: University of South Florida

Inventor： Saud Mobark Aldossari ,  Kwang-Cheng Chen

IPC: H04B17/373 ,  H04B17/391

Abstract: A system and method for applying supervised learning to model a second wireless channel environment based upon data collected for a first wireless channel environment. In various embodiments, regression techniques are used to overcome known channel modeling issues. Using the data of one particular communication environment, it is possible to predict a path loss model of a different communication environment. As such, the required number of measurements and the complexity of the model prediction is greatly reduced.