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Springer Proceedings in Advanced Robotics 6
Series Editors: Bruno Siciliano · Oussama Khatib

Roderich Groß · Andreas Kolling

Spring Berman · Emilio Frazzoli
Alcherio Martinoli · Fumitoshi Matsuno
Melvin Gauci Editors

Distributed
Autonomous
Robotic Systems
The 13th International Symposium
Springer Proceedings in Advanced Robotics 6

Series editors
Prof. Bruno Siciliano Prof. Oussama Khatib
Dipartimento di Ingegneria Elettrica Robotics Laboratory
e Tecnologie dell’Informazione Department of Computer Science
Università degli Studi di Napoli Stanford University
Federico II Stanford, CA 94305-9010
Via Claudio 21, 80125 Napoli USA
Italy E-mail: khatib@cs.stanford.edu
E-mail: siciliano@unina.it

Editorial Advisory Board

Gianluca Antonelli, University of Cassino, Italy

Dieter Fox, University of Washington, USA
Kensuke Harada, Osaka University, Japan
M. Ani Hsieh, University of Pennsylvania, USA
Torsten Kröger, Karlsruhe Institute of Technology, Germany
Dana Kulić, University of Waterloo, Canada
Jaehung Park, Seoul National University, South Korea
More information about this series at http://www.springer.com/series/15556
Roderich Groß Andreas Kolling
•

Spring Berman Emilio Frazzoli

•

Alcherio Martinoli Fumitoshi Matsuno

•

Melvin Gauci
Editors

Distributed Autonomous
Robotic Systems
The 13th International Symposium

123
Editors
Roderich Groß Alcherio Martinoli
Department of Automatic Control ENAC, IIE, DIAL
and Systems Engineering École Polytechnique Fédérale
University of Sheffield de Lausanne (EPFL)
Sheffield Lausanne
UK Switzerland

Andreas Kolling Fumitoshi Matsuno

Department of Automatic Control Department of Mechanical Engineering
and Systems Engineering and Science
University of Sheffield Kyoto University
Sheffield Kyoto
UK Japan

Spring Berman Melvin Gauci

School for Engineering of Matter, Wyss Institute for Biologically
Transport and Energy (SEMTE) Inspired Engineering
Arizona State University Harvard University Wyss Institute
Tempe, AZ for Biologically Inspired
USA Cambridge, MA
USA
Emilio Frazzoli
Massachusetts Institute of Technology
Cambridge, MA
USA

ISSN 2511-1256 ISSN 2511-1264 (electronic)

Springer Proceedings in Advanced Robotics
ISBN 978-3-319-73006-6 ISBN 978-3-319-73008-0 (eBook)
https://doi.org/10.1007/978-3-319-73008-0

Library of Congress Control Number: 2017962037

© Springer International Publishing AG 2018

This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part
of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations,
recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission
or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar
methodology now known or hereafter developed.
The use of general descriptive names, registered names, trademarks, service marks, etc. in this
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the relevant protective laws and regulations and therefore free for general use.
The publisher, the authors and the editors are safe to assume that the advice and information in this
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for any errors or omissions that may have been made. The publisher remains neutral with regard to
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Printed on acid-free paper

This Springer imprint is published by the registered company Springer International Publishing AG
part of Springer Nature
The registered company address is: Gewerbestrasse 11, 6330 Cham, Switzerland
Foreword

Robots! Robots on Mars and in oceans, in hospitals and homes, in factories and
schools; robots fighting fires, making goods and products, saving time and lives.
Robots today are making a considerable impact from industrial manufacturing to
healthcare, transportation, and exploration of the deep space and sea. Tomorrow,
robots will become pervasive and touch upon many aspects of modern life.
The Springer Tracts in Advanced Robotics (STAR) was launched in 2002 with
the goal of bringing to the research community the latest advances in the robotics
field based on their significance and quality. During the past 15 years, the STAR
series has featured publication of both monographs and edited collections. Among
the latter, the proceedings of thematic symposia devoted to excellence in robotics
research, such as ISRR, ISER, FSR, and WAFR, have been regularly included in
STAR.
The expansion of our field as well as the emergence of new research areas has
motivated us to enlarge the pool of proceedings in the STAR series in the past few
years. This has ultimately led to launching a sister series in parallel to STAR. The
Springer Proceedings in Advanced Robotics (SPAR) is dedicated to the timely
dissemination of the latest research results presented in selected symposia and
workshops.
This volume of the SPAR series brings the proceedings of the thirteenth edition
of the DARS symposium on Distributed Autonomous Robotic Systems, whose
proceedings have been previously published within STAR. This symposium took
place at the Natural History Museum in London from November 7th to 9th, 2016.
The volume edited by Roderich Groß, Andreas Kolling, Spring Berman, Emilio
Frazzoli, Alcherio Martinoli, Fumitoshi Matsuno, and Melvin Gauci contains 47
scientific contributions organized in seven chapters. This collection focuses on
robotic exploration, modular and swarm robotics, multi-robot control, estimation,
planning, and applications.

v
vi Foreword

From its excellent technical program to its warm social interaction, DARS
culminates with this unique reference on the current developments and new
advances in distributed autonomous robotic systems—a genuine tribute to its
contributors and organizers!

Naples, Italy Bruno Siciliano

Stanford, CA, USA Oussama Khatib
November 2017 SPAR Editors
Preface

These proceedings contain the papers presented at DARS 2016, the 13th
International Symposium on Distributed Autonomous Robotic Systems, which was
held at the Natural History Museum in London, UK, from November 7th to 9th,
2016. The goal of DARS is to provide a forum for scientific advances in the theory
and practice of distributed autonomous robotic systems. Distributed robotics is an
interdisciplinary and rapidly growing area, combining research in computer science,
communication and control systems, and electrical and mechanical engineering.
Distributed robotic systems can autonomously solve complex problems while
operating in highly unstructured real-world environments. They are expected to
play a major role in addressing future societal needs, for example, by improving
environmental impact assessment, food supply, transportation, manufacturing,
security, and emergency and rescue services.
Building upon previous editions, the symposium presented a strong and varied
technical program. We received a record 120 paper submissions—a testament to the
thriving and growing nature of the field. The review process was overseen by the
Program Chairs. Each paper was reviewed by at least three reviewers. Moreover,
each paper received a final evaluation by a Program Chair. We would like to thank
all members of the Program Committee as well as the additional referees for their
diligent and constructive reviews—a crucial element for upholding the high tech-
nical standard of DARS. The review process yielded 47 papers to be included in the
symposium, corresponding to an acceptance rate of 39%. Of the 47 papers, 30
papers were presented orally, and 17 papers were presented as posters. The method
of presentation was chosen not only based on the quality of each paper, but also on
content in order to ensure a well-balanced oral track, which is of interest to most
of the attendees. Additionally, the papers for oral presentation were divided into
seven thematic areas, namely Distributed Coverage and Exploration, Multi-Robot
Control, Multi-Robot Estimation, Multi-Robot Planning, Modular Robots and
Smart Materials, Swarm Robotics, and Multi-Robot Systems in Applications. All
47 accepted papers are included in these proceedings.
The program also featured four invited keynote addresses by researchers who are
making a lasting contribution to science and robotics: “Material-Integrated

vii
viii Preface

Intelligence for Robot Autonomy” by Nikolaus Correll (University of Colorado

Boulder, USA), “Coordination, Cooperation and Collaboration in Multi-Robot
Systems” by Vijay Kumar (University of Pennsylvania, USA), “Go to the Bee and
Be Wise: Swarm Engineering Inspired by House-Hunting Honeybees” by James
Marshall (University of Sheffield, UK), and “Robust Human Control of
Multi-Robot Swarms” by Katia Sycara (Carnegie Mellon University, USA). The
abstracts of these four keynote addresses are included in the proceedings.
This edition of DARS included three awards: Best Paper, Best Application
Paper, and Best Poster. The awards committee was chaired by Michael Rubenstein
(Northwestern University, USA) and included Melvin Gauci (Harvard University,
USA), Sabine Hauert (Bristol University, UK), and Bahar Haghighat (EPFL,
Switzerland). For the Best Paper award, the Program Chairs nominated six papers
as finalists from among all the accepted papers based on the reports and award
nominations by the referees, as well as on the revised contributions included in the
digital proceedings. The final decision also took into account the presentation
quality at the symposium. The Best Paper award went to “Robust Coordinated
Aerial Deployments for Theatrical Applications Given Online User Interaction via
Behavior Composition” by Elen Cappo et al. The Best Application Paper award
was sponsored by the Institution of Engineering and Technology. All
orally-presented papers were eligible for this award, and the decision took into
account the degree to which the work addressed problems of practical implemen-
tation, and the quality of the presentation. This award went to “Multi-Swarm
Infrastructure for Swarm Versus Swarm Experimentation” by Duane Davis et al.
All posters were eligible for the Best Poster award, and the decision was based on
the quality of the work and the poster presentation. This award went to “Vertex: A
New Distributed Underwater Robotic Platform for Environmental Monitoring” by
Felix Schill et al.
We would like to thank everyone involved in making DARS 2016 a success,
including VICON Motion Systems (DARS 2016 Platinum Sponsor), RS
Components (DARS 2016 Gold Sponsor), the Advisory Committee, the Program
Committee and additional referees, the Organizing Committee, and all the authors
of all submitted papers. Finally, we would like to thank the local organization team,
in particular Ana Macintosh and Stefan M. Trenkwalder.

Sheffield, UK Roderich Groß

July 2017 Andreas Kolling
Spring Berman
Emilio Frazzoli
Alcherio Martinoli
Fumitoshi Matsuno
Melvin Gauci
Organization

General Chair
Roderich Groß, The University of Sheffield, UK
General Co-Chair
Andreas Kolling, iRobot, USA
Technical Program Co-Chairs
Spring Berman, Arizona State University, USA
Emilio Frazzoli, MIT, USA
Alcherio Martinoli, EPFL, Switzerland
Fumitoshi Matsuno, Kyoto University, Japan
Publication Chair
Melvin Gauci,
Harvard University, USA
Publicity Chair
Sabine Hauert, University of Bristol, UK
Local Organization Team
Louise A. Caffrey, The University of Sheffield, UK
Ana MacIntosh, The University of Sheffield, UK
Stefan M. Trenkwalder, The University of Sheffield, UK
Advisory Committee
Hajime Asama, University of Tokyo, Japan
Marcelo H. Ang, National University of Singapore, Singapore
Tamio Arai, University of Tokyo, Japan
Raja Chatila, UPMC, France
Gregory S. Chirikjian, Johns Hopkins University, USA
Young-Jo Cho, ETRI, Republic of Korea
Nak Young Chong, JAIST, Japan
Nikolaus Correll, University of Colorado Boulder, USA

ix
x Organization

Rüdiger Dillmann, KIT, Germany

Toshio Fukuda, Nagoya University, Japan
Maria Gini, University of Minnesota, USA
M. Ani Hsieh, University of Pennsylvania, USA
Alcherio Martinoli, EPFL, Switzerland
Francesco Mondada, EPFL, Switzerland
Lynne E. Parker, University of Tennessee, USA
Program Committee
William Agassounon, Textron Defense Systems Inc., USA
Antonio P. Aguiar, University of Porto, Portugal
Rachid Alami, LAAS-CNRS, France
Javier Alonso-Mora, MIT, USA
Francesco Amigoni, Polytechnic University of Milan, Italy
Marcelo H. Ang, National University of Singapore, Singapore
Adrian Arfire, EPFL, Switzerland
Ryo Ariizumi, Nagoya University, Japan
Filippo Arrichiello, University of Cassino and Southern Lazio, Italy
Masoud Asadpour, University of Tehran, Iran
Shun-ichi Azuma, Kyoto University, Japan
Nicola Basilico, University of Milan, Italy
Meysam Basiri, EPFL, Switzerland
Jacob Beal, Raytheon BBN Technologies, USA
Kostas Bekris, Rutgers University, USA
Gerardo Beni, University of California, Riverside, USA
Sarah Bergbreiter, University of Maryland, USA
Navneet Bhalla, Harvard University, USA
Subhrajit Bhattacharya, University of Pennsylvania, USA
Mauro Birattari, Université Libre de Bruxelles, Belgium
Nicolas Bredeche, Pierre and Marie Curie University, France
Andreas Breitenmoser, University of Southern California, USA
Zack J. Butler, Rochester Institute of Technology, USA
Stefano Carpin, University of California, Merced, USA
Luiz Chaimowicz, Federal University of Minas Gerais, Brazil
Han-Lim Choi, KAIST, Republic of Korea
Anders L. Christensen, University Institute of Lisbon, Portugal
Timothy H. Chung, DARPA, USA
Brian Coltin, Carnegie Mellon University, USA
Nikolaus Correll, University of Colorado Boulder, USA
Jorge Cortés, University of California, San Diego, USA
Raffaello D’Andrea, ETH Zurich, Switzerland
Philip Dames, Temple University, USA
Karthik Dantu, SUNY Buffalo, USA
Organization xi

Prithviraj Dasgupta, University of Nebraska Omaha, USA

Carrick Detweiler, University of Nebraska Lincoln, USA
Gianni A. Di Caro, IDSIA USI, Switzerland
Rüdiger Dillmann, KIT, Germany
Dimos Dimarogonas, KTH, Sweden
Clare Dixon, University of Liverpool, USA
Marco Dorigo, Université Libre de Bruxelles, Belgium
Takahiro Endo, Kyoto University, Japan
William C. Evans, Google, USA
Alessandro Farinelli, University of Verona, Italy
Eliseo Ferrante, University of Leuven, Belgium
Rafael Fierro, The University of New Mexico, USA
Robert Fitch, The University of Sydney, Australia
Ryusuke Fujisawa, Hachinohe Institute of Technology, Japan
Rui Fukui, University of Tokyo, Japan
Simon Garnier, New Jersey Institute of Technology, USA
Andrea Gasparri, Roma Tre University, Italy
Melvin Gauci, Harvard University, USA
Veysel Gazi, Istanbul Kemerburgaz University, Turkey
Katie Genter, University of Texas Austin, USA
Maria Gini, University of Minnesota, USA
Heiko Hamann, University of Paderborn, Germany
Kiyohiko Hattori, NICT, Japan
Sabine Hauert, University of Bristol, UK
Tomohisa Hayakawa, Tokyo Institute of Technology, Japan
Geoffrey Hollinger, Oregon State University, USA
Satoshi Hoshino, Utsunomiya University, Japan
Jonathan P. How, MIT, USA
M. Ani Hsieh, University of Pennsylvania, USA
Hiroyuki Iizuka, Hokkaido University, Japan
Volkan Isler, University of Minnesota, USA
Yoshiaki Katada, Setsunan University, Japan
Takashi Kawakami, Hokkaido University of Science, Japan
Mirko Kovac, Imperial College London, UK
Masao Kubo, National Defense Academy, Japan
Daisuke Kurabayashi, Tokyo Institute of Technology, Japan
Haruhisa Kurokawa, AIST, Japan
Konstantinos J. Kyriakopoulos, National Technical University of Athens, Greece
Dongjun Lee, Seoul national University, Republic of Korea
Somchaya Liemhetcharat, Uber Advanced Technologies Center, USA
Pedro U. Lima, University of Lisbon, Portugal
Ali Marjovi, EPFL, Switzerland
Lino Marques, University of Coimbra, Portugal
Fulvio Mastrogiovanni, University of Genova, Italy
xii Organization

Nathan Michael, Carnegie Mellon University, USA

Dejan Milutinovic, University of California, Santa Cruz, USA
Melanie Moses, The University of New Mexico, USA
Masaaki Nagahara, Kyoto University, Japan
Radhika Nagpal, Harvard University, USA
Toru Namerikawa, Keio University, Japan
Nils Napp, SUNY Buffalo, USA
Daniele Nardi, Sapienza University of Rome, Italy
Keitaro Naruse, University of Aizu, Japan
Iñaki Navarro, EPFL, Switzerland
Giuseppe Notarstefano, University of Salento, Italy
Michael Novitzky, Georgia Institute of Technology, USA
Shinsuke Oh-hara, University of Yamanashi, Japan
Kazuhiro Ohkura, Hiroshima University, Japan
Derek Paley, University of Maryland, USA
Lucia Pallottino, University of Pisa, Italy
Antonio Pascoal, University of Lisbon, Portugal
Marco Pavone, Stanford University, USA
José Pereira, EPFL, Switzerland
Kirstin H. Petersen, Cornell University, USA
Hemma Philamore, University of Bristol, UK
Luciano C. A. Pimenta, Federal University of Minas Gerais, Brazil
Carlo Pinciroli, Ecole Polytechnique de Montréal, Canada
Amanda Prorok, University of Pennsylvania, USA
Subramanian Ramamoorthy, The University of Edinburgh, UK
Andreagiovanni Reina, The University of Sheffield, UK
Ioannis Rekleitis, University of South Carolina, USA
Paolo Remagnino, Kingston University London, UK
Alessandro Renzaglia, LAAS CNRS, France
Paolo Robuffo Giordano, IRISA/INRIA Rennes, France
Michael Rubenstein, Northwestern University, USA
Lorenzo Sabattini, University of Modena and Reggio Emilia, Italy
Brian Sadler, US Army Research Laboratory, USA
Erol Sahin, Middle East Technical University, Turkey
Kazunori Sakurama, Tottori University, Japan
Ketan Savla, University of Southern California, USA
Thomas Schmickl, University of Graz, Austria
Mac Schwager, Stanford University, USA
Iman Shames, University of Melbourne, Australia
Dylan A. Shell, Texas A&M University, USA
Wei-Min Shen, University of Southern California, USA
Tomohiro Shirakawa, National Defense Academy of Japan, Japan
Stephen L. Smith, University of Waterloo, Canada
Paolo Stegagno, Cornell University, USA
Organization xiii

Kasper Stoy, IT University of Copenhagen, Denmark

Ken Sugawara, Tohoku Gakuin University, Japan
Ikuo Suzuki, Kitami Institute of Technology, Japan
Keiki Takadama, The University of Electrocommunications, Japan
Herbert G. Tanner, University of Delaware, USA
Danilo Tardioli, University Center of Defense, Spain
Guy Theraulaz, Paul Sabatier University and CNRS, France
Jonathan Timmis, University of York, UK
Vito Trianni, ISTC CNR, Italy
Elio Tuci, Aberystwyth University, UK
Kazuki Umemoto, Kanagawa University, Japan
Richard T. Vaughan, Simon Fraser University, Canada
Rodrigo Ventura, University of Lisbon, Portugal
Richard Voyles, Purdue University, USA
Justin Werfel, Harvard University, USA
Kazuaki Yamada, Toyo University, Japan
Masahito Yamamoto, Hokkaido University, Japan
Toshiyuki Yasuda, Hiroshima University, Japan
Jingjin Yu Rutgers, University, USA
Ikemoto Yusuke, Meijo University, Japan
Uwe R. Zimmer, Australian National University, Australia
Additional Referees
Charuvahan Adhivarahan
Jacopo Banfi
Florian Berlinger
Barbara Bruno
Levi DeVries
Sedat Dogru
Kevin Eckenhoff
Elizabeth Esterly
Andres Faina
Boris Gromov
Bahar Haghighat
Christoph Hintz
Lucas Janson
Matthew Kelly
Yara Khaluf
Jose Marcio Luna
Massimo Mecella
Michael Otte
Alyssa Pierson
Ragesh K. Ramachandran
Daniel Selvaratnam
xiv Organization

Sara Spedicato
Khalil Taheri
Stefan M. Trenkwalder
Constantinos Vrohidis
Jonathan West
Sean Wilson
Indrajeet Yadav
Dingjiang Zhou
Saeed Ahmadizadeh
Cenk Baykal
Dimitris Boskos
Alessio Capitanelli
Krishna Doddapaneni
Miguel Duarte
Iñaki Esnaola
Mark Fabbro
Jorge Gomes
Meng Guo
Shahab Heshmati-Alamdari
Frank Imeson
Aris Kanellopoulos
Monroe Kennedy
Ganesh Kumar
Yoshiyuki Matsumura
Ivano Notarnicola
Cammy Peterson
Hasan Poonawala
Philipp Schillinger
Wenceslao Shaw-Cortez
Adam Stager
Andrea Testa
Andrea Vanzo
Zijian Wang
Michael Whitzer
Peter Wurman
Michael Zavlanos
Contents

Part I Distributed Coverage and Exploration

A Probabilistic Topological Approach to Feature Identification
Using a Stochastic Robotic Swarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Ragesh K. Ramachandran, Sean Wilson and Spring Berman
Communication-Restricted Exploration for Search Teams . . . . . . . . . . . 17
Elizabeth A. Jensen, London Lowmanstone and Maria Gini
From Ants to Birds: A Novel Bio-Inspired Approach to Online
Area Coverage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Luca Giuggioli, Idan Arye, Alexandro Heiblum Robles
and Gal A. Kaminka
Information Based Exploration with Panoramas and Angle
Occupancy Grids . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Daniel Mox, Anthony Cowley, M. Ani Hsieh and C. J. Taylor
Multirobot Persistent Patrolling in Communication-Restricted
Environments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Marta Romeo, Jacopo Banfi, Nicola Basilico and Francesco Amigoni

Part II Multi-Robot Control

A Comparative Study of Collision Avoidance Algorithms
for Unmanned Aerial Vehicles: Performance
and Robustness to Noise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Steven Roelofsen, Denis Gillet and Alcherio Martinoli
A Decentralized Control Strategy for Resilient Connectivity
Maintenance in Multi-robot Systems Subject to Failures . . . . . . . . . . . . 89
Cinara Ghedini, Carlos H. C. Ribeiro and Lorenzo Sabattini

xv
xvi Contents

Chase Your Farthest Neighbour . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

Rotem Manor and Alfred M. Bruckstein
OuijaBots: Omnidirectional Robots for Cooperative Object
Transport with Rotation Control Using No Communication . . . . . . . . . 117
Zijian Wang, Guang Yang, Xuanshuo Su and Mac Schwager
Persistent Multi-robot Formations with Redundancy . . . . . . . . . . . . . . . 133
Alyxander Burns, Bernd Schulze and Audrey St. John
Triangular Networks for Resilient Formations . . . . . . . . . . . . . . . . . . . . 147
David Saldaña, Amanda Prorok, Mario F. M. Campos and Vijay Kumar

Part III Multi-Robot Estimation

Construction of Optimal Control Graphs
in Multi-robot Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Gal A. Kaminka, Ilan Lupu and Noa Agmon
Decision-Making Accuracy for Sensor Networks
with Inhomogeneous Poisson Observations . . . . . . . . . . . . . . . . . . . . . . 177
Chetan D. Pahlajani, Indrajeet Yadav, Herbert G. Tanner
and Ioannis Poulakakis
Distributed Laplacian Eigenvalue and Eigenvector
Estimation in Multi-robot Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
Mehran Zareh, Lorenzo Sabattini and Cristian Secchi
Distributed Object Characterization with Local Sensing
by a Multi-robot System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
Golnaz Habibi, Sándor P. Fekete, Zachary Kingston and James McLurkin
Optical Wireless Communications for Heterogeneous DARS . . . . . . . . . 219
Patricio J. Cruz, Christoph Hintz, Jonathan West and Rafael Fierro

Part IV Multi-Robot Planning

Bundling Policies for Sequential Stochastic Tasks
in Multi-robot Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
Changjoo Nam and Dylan A. Shell
Decomposition of Finite LTL Specifications for Efficient
Multi-agent Planning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
Philipp Schillinger, Mathias Bürger and Dimos V. Dimarogonas
Informative Path Planning and Mapping with Multiple UAVs
in Wind Fields . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269
Doo-Hyun Cho, Jung-Su Ha, Sujin Lee, Sunghyun Moon
and Han-Lim Choi
Contents xvii

Multi-robot Informative and Adaptive Planning

for Persistent Environmental Monitoring . . . . . . . . . . . . . . . . . . . . . . . . 285
Kai-Chieh Ma, Zhibei Ma, Lantao Liu and Gaurav S. Sukhatme
The Effectiveness Index Intrinsic Reward for Coordinating
Service Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
Yinon Douchan and Gal A. Kaminka
United We Move: Decentralized Segregated Robotic Swarm
Navigation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
Fabrício R. Inácio, Douglas G. Macharet and Luiz Chaimowicz

Part V Modular Robots and Smart Materials

A Rule Synthesis Algorithm for Programmable Stochastic
Self-assembly of Robotic Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329
Bahar Haghighat and Alcherio Martinoli
Distributed Adaptive Locomotion Learning in ModRED Modular
Self-reconfigurable Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345
Ayan Dutta, Prithviraj Dasgupta and Carl Nelson
Distributed Camouflage for Swarm Robotics and Smart
Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359
Yang Li, John Klingner and Nikolaus Correll
Evo-Bots: A Simple, Stochastic Approach to Self-assembling
Artificial Organisms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373
Juan A. Escalera, Matthew J. Doyle, Francesco Mondada
and Roderich Groß
Geometrical Study of a Quasi-spherical Module for Building
Programmable Matter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387
Benoît Piranda and Julien Bourgeois
HyMod: A 3-DOF Hybrid Mobile and Self-Reconfigurable
Modular Robot and its Extensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 401
Christopher Parrott, Tony J. Dodd and Roderich Groß
Network Characterization of Lattice-Based Modular Robots
with Neighbor-to-Neighbor Communications . . . . . . . . . . . . . . . . . . . . . 415
André Naz, Benoît Piranda, Thadeu Tucci, Seth Copen Goldstein
and Julien Bourgeois

Part VI Swarm Robotics

Decentralized Progressive Shape Formation with Robot Swarms . . . . . . 433
Carlo Pinciroli, Andrea Gasparri, Emanuele Garone
and Giovanni Beltrame
xviii Contents

Discovery and Exploration of Novel Swarm Behaviors

Given Limited Robot Capabilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447
Daniel S. Brown, Ryan Turner, Oliver Hennigh and Steven Loscalzo
Effects of Spatiality on Value-Sensitive Decisions Made
by Robot Swarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461
Andreagiovanni Reina, Thomas Bose, Vito Trianni
and James A. R. Marshall
Emergence and Inhibition of Synchronization
in Robot Swarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 475
Fernando Perez-Diaz, Stefan M. Trenkwalder, Rüdiger Zillmer
and Roderich Groß
Evolving Behaviour Trees for Swarm Robotics . . . . . . . . . . . . . . . . . . . 487
Simon Jones, Matthew Studley, Sabine Hauert and Alan Winfield
Evolving Group Transport Strategies for e-Puck Robots:
Moving Objects Towards a Target Area . . . . . . . . . . . . . . . . . . . . . . . . 503
Muhanad H. Mohammed Alkilabi, Aparajit Narayan, Chuan Lu
and Elio Tuci
From Formalised State Machines to Implementations
of Robotic Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 517
Wei Li, Alvaro Miyazawa, Pedro Ribeiro, Ana Cavalcanti,
Jim Woodcock and Jon Timmis
Human Responses to Stimuli Produced by Robot
Swarms - the Effect of the Reality-Gap on Psychological State . . . . . . . 531
Gaëtan Podevijn, Rehan O’Grady, Carole Fantini-Hauwel
and Marco Dorigo
Localization of Inexpensive Robots with Low-Bandwidth
Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 545
Shiling Wang, Francis Colas, Ming Liu, Francesco Mondada
and Stéphane Magnenat
Modelling Mood in Co-operative Emotional Agents . . . . . . . . . . . . . . . . 559
Joe Collenette, Katie Atkinson, Daan Bloembergen and Karl Tuyls
Programmable Self-disassembly for Shape Formation
in Large-Scale Robot Collectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 573
Melvin Gauci, Radhika Nagpal and Michael Rubenstein
Contents xix

Towards Differentially Private Aggregation of Heterogeneous

Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 587
Amanda Prorok and Vijay Kumar

Part VII Multi-Robot Systems in Applications

Construction Planning for a Modularized Rail Structure: Type
Selection of Rail Structure Modules and Dispatch Planning of
Constructor Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 605
Rui Fukui, Yuta Kato, Gen Kanayama, Ryo Takahashi
and Masayuki Nakao
Distributed Convolutional Neural Networks for Human Activity
Recognition in Wearable Robotics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 619
Dana Hughes and Nikolaus Correll
Formation Control of a Drifting Group of Marine Robotic Vehicles . . . 633
Nicholas R. Rypkema and Henrik Schmidt
Multi-swarm Infrastructure for Swarm Versus Swarm
Experimentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 649
Duane T. Davis, Timothy H. Chung, Michael R. Clement
and Michael A. Day
Robust Coordinated Aerial Deployments for Theatrical Applications
Given Online User Interaction via Behavior Composition . . . . . . . . . . . 665
Ellen A. Cappo, Arjav Desai and Nathan Michael
Vertex: A New Distributed Underwater Robotic Platform for
Environmental Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 679
Felix Schill, Alexander Bahr and Alcherio Martinoli
Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 695
Abstracts of Invited Keynote Presentations

Material-Integrated Intelligence for Robot Autonomy

Prof. Nikolaus Correll, University of Colorado Boulder, USA

Advances in miniature electronics, distributed algorithms and manufacturing
technology have enabled a new generation of smart composites that tightly integrate
sensing, actuation, computation and communication. Such “robotic materials” are
inspired by multifunctional natural structures such as the skin of the cuttlefish that
can change its color and patterning, bird wings that can change their shape, or the
human skin that provides tactile sensing at high dynamic range. I will describe a
series of recent results that best illustrate the benefits of material integrated com-
putation: high-bandwidth sensing for texture recognition and localization in artifi-
cial skins, distributed optimization for controlling shape change, distributed
classification for recognizing gestures drawn onto a modular facade, and feedback
control of soft robotic actuators. I will then describe current challenges in robotic
grasping and manipulation, and demonstrate how robotic materials can provide
critical sensing and control during a series of manipulation tasks with applications
to warehouse automation, manufacturing and lab automation.

Coordination, Cooperation, and Collaboration in Multi-Robot

Systems

Prof. Vijay Kumar, University of Pennsylvania, USA

The central challenge in multi-robot systems lies in the synthesis of collective
behaviors which enable group performance that exceeds the ability of individuals.
We explore three different paradigms for collective behaviors. At a fundamental
level, coordination is beneficial when individuals are confronted with a task that
they can complete but can do so more efficiently as a group. Cooperation refers to

xxi
xxii Abstracts of Invited Keynote Presentations

the ability of robots to accomplish tasks they could not have completed on their
own. Collaboration is useful for groups with different types of robots with diverse
capabilities and tasks which cannot be completed with a single type of robot. This
talk will discuss biological inspiration for these paradigms, mathematical frame-
works, and resilience in collective behaviors with applications to ground and aerial
robots.

Go to the Bee and Be Wise: Swarm Engineering Inspired

by House-Hunting Honeybees

Prof. James A. R. Marshall, The University of Sheffield, UK

Distributed autonomous systems are likely to become increasingly important for
robotics and other applications, due to their potential for resilience, scalability,and
flexibility. However, designing grouplevel behaviors that are implemented by
simple individual-level rules operating with local information is an inherently hard
problem, and guaranteeing properties of that behavior is even harder. For example,
search techniques and formal methods applied to swarms both rapidly fall foul
of the curse of dimensionality as number of agents increase. However natural
selection has successfully designed such systems repeatedly, and tools from the
natural sciences have rigorously described the behaviour of very large systems of
interacting components. In this talk, I will recount how observations of
house-hunting honeybees led to the design of a new class of distributed
decision-making algorithm, and its deployment on hundreds of small and simple
robots. Rather than simply imitating nature, however, the algorithm’s principled
development requires the integration of concepts and techniques from areas as
diverse as behavioural ecology and statistical physics.

Robust Human Control of Multi-Robot Swarms

Prof. Katia Sycara, Carnegie Mellon University, USA

As robotic platforms become cheaper and more reliable, multirobot deployment
becomes possible and desirable. Since complete robot autonomy for these
deployments is not yet possible, the presence of a human operator is necessary.
Multiple human studies have shown that cognitive limitations prevent effective
human control of multi-robot systems of tens of robots. Another difficulty is that
many different types of human interactions may be necessary to maintain and
control multi-robot systems. Additionally, the coordination scheme of multiple
robots can vary which has consequences on the operator’s difficulty of control. We
have developed a characterization of human-robot tasks, and appropriate human
Abstracts of Invited Keynote Presentations xxiii

robot interaction modes, based on the task's cognitive complexity of control. This
scheme helps explicate the forms of control likely to be needed and the demands
they pose on human operators. This talk will present two lines of research following
from this characterization. The first evaluates the potential for using scheduling
techniques to improve the performance of systems in which operators must attend
to multiple independently operating robots. The second presents challenges and
results pertaining to human control of autonomously cooperating robotic swarms.
 Part I
Distributed Coverage and Exploration
A Probabilistic Topological Approach
to Feature Identification Using a Stochastic
Robotic Swarm

Ragesh K. Ramachandran, Sean Wilson and Spring Berman

Abstract This paper presents a novel automated approach to quantifying the topo-
logical features of an unknown environment using a swarm of robots with local
sensing and limited or no access to global position information. The robots ran-
domly explore the environment and record a time series of their estimated position
and the covariance matrix associated with this estimate. After the robots’ deploy-
ment, a point cloud indicating the free space of the environment is extracted from
their aggregated data. Tools from topological data analysis, in particular the concept
of persistent homology, are applied to a subset of the point cloud to construct barcode
diagrams, which are used to determine the numbers of different types of features in
the domain. We demonstrate that our approach can correctly identify the number
of topological features in simulations with zero to four features and in multi-robot
experiments with one to three features.

Keywords Unlocalized robotic swarm · Stochastic robotics · Mapping

GPS-denied environments · Topological data analysis · Algebraic topology

1 Introduction

Many potential applications for robotic swarms, such as environmental monitoring,

exploration, disaster response, search-and-rescue, and mining, will require the robots
to operate in uncertain environments. Constraints on the robots’ onboard power may
preclude the use of GPS and inter-robot communication, and even if the robots are

R. K. Ramachandran · S. Wilson · S. Berman (B)

School for Engineering of Matter, Transport and Energy, Arizona State University,
Tempe, AZ, USA
e-mail: spring.berman@asu.edu
S. Wilson
e-mail: sean.t.wilson@asu.edu
R. K. Ramachandran
e-mail: rageshkr@asu.edu

© Springer International Publishing AG 2018 3

R. Groß et al. (eds.), Distributed Autonomous Robotic Systems,
Springer Proceedings in Advanced Robotics 6,
https://doi.org/10.1007/978-3-319-73008-0_1
4 R. K. Ramachandran et al.

equipped with localization devices, they may be deployed in GPS-denied environ-

ments (e.g., indoors or underground). Despite these constraints, the robots may be
required to map their environment in order to perform desired tasks. For instance, the
robots may need to identify target payloads to transport or obstacles and hazardous
regions to avoid. Since the robots will have limited sensing and computational capa-
bilities, it would not be feasible to implement existing techniques such as occupancy
grid mapping [24], simultaneous localization and mapping (SLAM) [21, 24], and
Probability Hypothesis Density (PHD) filtering [27] to address this problem.
As an initial step toward constructing a map with metric information, we present an
automated method for computing the number of topological features in an unknown
domain from data obtained by a swarm of inexpensive robots with local sensing, no
inter-robot communication, and limited or no access to global position information.
The features represent obstacles or other regions of interest that robots do not pass
through. The data consist of robots’ position estimates and the covariance matrices of
these estimates, recorded by the robots during random exploration of the domain. The
robots collect this data autonomously and independently during their deployment,
without relying on input from a supervisory agent. We assume that after a set period
of time, the robots navigate to an easily identifiable landmark (e.g., a beacon), where
they transfer this data to a central computer. The computer then processes the data
from the entire swarm to extract a point cloud that covers the domain’s free space and
applies tools from Topological Data Analysis (TDA), namely persistent homology, to
identify the numbers of different types of topological features. Our approach scales
with the number of robots and is robust to the failure of a small portion of the swarm.
Although topological mapping has been extensively studied, TDA has only
recently been applied in robotics for environmental characterization. For a scenario
with a single robot, [7] presents a method for topological SLAM that encodes the
topology of the environment in a generalized Voronoi graph. Few works address the
problem of mapping an environment using a robotic swarm with limited sensing, no
inter-robot communication, and no global localization. In [19], we presented an opti-
mal control approach to mapping a GPS-denied environment with a robotic swarm
using a partial differential equation model of the swarm population dynamics. This
strategy works best when the domain contains only a few sparsely distributed fea-
tures, whereas the approach presented here can be applied to domains that are more
densely populated with features. In [20], the authors propose an algorithm that covers
the free space of the environment with robots and then constructs an approximate
generalized Voronoi graph of the covered region. This algorithm requires the robots
to communicate with a central server that commands their actions. In contrast, our
approach does not require a centralized decision maker during the robots’ operation.
Alternatively, [13] obtains a simplicial approximation of a region of interest as a
topological map using dual pairs of nerves that are constructed using relevant vis-
ibility and observation covers. Contrary to our strategy, [13] requires the robots to
have the ability to detect and maintain a record of landmarks in the domain, such as
obstacle corners and edges. The mapping approach in [8] is similar to ours in that it
generates a point cloud of the domain’s free region and uses persistent homology to
compute topological features in the environment. However, unlike our strategy, this
A Probabilistic Topological Approach to Feature Identification … 5

approach requires each robot to have an identification label that can be recognized
by other robots.
The paper is structured as follows. Section 2 introduces the tools of TDA that
are used in our methodology. Section 3 presents the problem statement and describes
assumptions about the robot capabilities and motion model. Our approach for extract-
ing topological features of the domain from the robots’ data is discussed in Sect. 4.
Sects. 5 and 6 validate our approach with simulations and multi-robot experiments,
respectively. Finally, Sect. 7 concludes the paper and proposes future work.

2 Background

Topological Data Analysis (TDA) [5] is an emerging field that aims to provide algo-
rithmic and mathematical tools for studying topological and geometric attributes
of data. The fundamental idea underlying TDA is that data has an inherent shape
that encodes important information regarding the connectivity of the data and yields
insight into its global structure. TDA exploits the mathematical framework of alge-
braic topology [15], especially the concept of persistent homology [9], to characterize
the topological structure of data. In many applications, data is obtained as a point
cloud consisting of noisy samples of an intensity map in a Euclidean space. Prominent
topological features of a point cloud can be computed using TDA and presented in
the form of compact representations such as persistence diagrams [10] and barcode
diagrams [11]. TDA has been extensively applied to problems in computer vision
and image processing [23], sensor networks [6, 14], robotics [4, 18], localization
[22], and map comparison [3].
We provide a brief introduction to persistent homology, which is central to our
mapping methodology. More detailed treatments of the associated theory and com-
putations are given in [10, 16, 28]. Persistent homology is a method of analyzing the
correlation of homological information gathered across different scales. This tech-
nique enables the identification of topological features that are present over a large
range of scales, as opposed to those which are only temporarily present (short-scale
features). Homology is a robust tool that facilitates the study of global attributes of
spaces and functions from local computations on noisy data. A topological space T
can be associated with a collection of vector spaces called homology groups, denoted
by Hk (T), k = 0, 1, 2, ..., dim(T) − 1, each of which encodes a particular topologi-
cal feature of T. In persistent homology, these features are characterized using Betti
numbers, which are the ranks of the homology groups. These numbers are topo-
logical invariants. The k th Betti number of T, denoted by βk , is the rank of Hk (T)
and represents the number of independent k-dimensional cycles in T. For example, if
T ⊂ R2 , then β0 is the number of connected components in T and β1 is the number of
holes in T. If T ⊂ R3 , then β0 , β1 , and β2 are the numbers of connected components,
tunnels, and voids in T, respectively.
In a typical TDA application, a finite set of samples from a space M is available.
These samples, along with the metric associated with M, comprise the point cloud
6 R. K. Ramachandran et al.

C of the space. In TDA, the metric is used to map C onto a collection of simplices
called a simplicial complex. Simplices are combinatorial objects constructed from
the subsets of C. A k-simplex σ = [v0 , v1 , ..., vk ] is an ordered list of k + 1 elements
{v0 , v1 , ..., vk } ∈ C, called vertices. The simplicial complex provides a discrete repre-
sentation of the underlying topological space using a combinatorial structure that can
be represented algebraically using linear operators (matrices). It is this combinatorial
structure that permits us to develop algorithms for homological computation. There
are various ways to build a simplicial complex from a point cloud. The simplest way
is to choose a parameter δ > 0 and add a k-simplex to the simplicial complex if
every vertex in the simplex is within a distance δ from every other. The simplicial
complex constructed in this manner is called the Vietoris–Rips complex [12] or Rips
complex for short, often denoted as Ri ps(C, δ).
For large datasets, the number of simplices in the simplicial complex can be enor-
mous, making the computations highly inefficient. We reduce the computational
requirements by choosing a subset of the point cloud consisting of landmark points,
denoted by L ⊂ C, as vertices for the Rips complex. These landmark points were
selected using a greedy inductive selection process called a sequential max-min algo-
rithm [1]. In order to compute persistent Betti numbers, we require a filtration, defined
as a family of Ri ps(C, δ) parametrized by δ such that Ri ps(C, δ1 ) ⊆ Ri ps(C, δ2 )
for all δ1 > 0, δ2 > 0 where δ1 ≤ δ2 .
The persistent topological features of T over multiple values of δ can be identified
using a barcode diagram, which is a graphical representation of Hk (T) in terms of the
homology generators. A barcode plots a set of horizontal line segments on a graph
whose x-axis spans a range of δ values and whose y-axis depicts an arbitrary ordering
of homology generators. The numbers of arrows in the barcode for dimension 0
and dimension 1 indicate the numbers of connected components and features in
the domain, respectively. A barcode diagram can be computed automatically using
algorithms that find the homology generators of the homology that is constructed on
a point cloud. Figure 1 illustrates a barcode diagram that is obtained from an example
point cloud.

3 Problem Statement

We consider a scenario in which N robots are deployed into a bounded, unknown,

GPS-denied 2D environment in order to collect data that can be used to determine
the number of topological features in the domain. The robots have local sensing
capabilities and can identify features and other robots at distances within their sensing
range to perform collision avoidance maneuvers. Each robot is equipped with a
compass and wheel encoders, which enable it to estimate its position and orientation
with uncertainty.
The robots perform correlated random walks in the domain, avoiding features and
other robots. During its motion, each robot estimates its position in a global reference
frame using its onboard odometry and a Kalman filter. At fixed time intervals, the
A Probabilistic Topological Approach to Feature Identification … 7

Fig. 1 An example barcode diagram of a filtration formed from a Rips complex. βk (δi ) is the
number of horizontal segments in the barcode for Hk (T) that intersect the dashed line at δ = δi

robot records its estimated position and the covariance matrix corresponding to the
uncertainty of the estimate. After a time span T , all robots travel to a common location
where their stored data is retrieved and processed. We assume that T is sufficiently
large for the robots to thoroughly cover the domain and that the robots have sufficient
memory to store the data that they obtain during their deployment.
The robots follow the motion model described in [25]. Each robot has a con-
stant translational speed v and an orientation θ (t) at time t with respect to a global
frame. We define a robot’s velocity vector at time t as V(t) = [vx (t), v y (t)]T =
[v cos(θ (t)), v sin(θ (t))]T and its position vector as X(t) = [x(t), y(t)]T . The
displacement of a robot over a time step Δt is given by

X(t + Δt) = X(t) + V(t)Δt + W(t), (1)

where W(t) ∈ R2 is a vector of independent, zero-mean normal random variables

that are generated at time t to model the randomness in the robot’s motion due to
sensor and actuator noise. At the beginning of a time step, each robot generates a
random number between 0 and 1. If this number is below a predefined threshold
pth , the robot randomly chooses a new θ (t) ∈ [−π, π ]. At time t = 0, the start of
a deployment, each robot is assigned the parameters v and pth and obtains accurate
measurements of its position X(0) and orientation θ (0).
We consider two types of scenarios. In Type I scenarios, robots receive accu-
rate estimates of their global positions when they are close to the boundary of the
domain. For example, robots on the exterior of a building will have access to GPS
measurements that are unavailable to robots inside. In Type II scenarios, robots do
not receive global position updates anywhere in the domain, which may for instance
be located underground or underwater.
Other documents randomly have
different content
 Dental Metallurgy.
DENTAL METALLURGY: MANUAL FOR STUDENTS AND
DENTISTS. By A. B. Griffiths, Ph.D. Demy 8vo. Thirty-six
Illustrations. 1903. 200 pp. Price 7s. 6d.; India and Colonies, 8s.;
Other Countries, 8s. 6d.; strictly net.
Contents.
Introduction—Physical Properties of the Metals—Action of
Certain Agents on Metals—Alloys—Action of Oral Bacteria on
Alloys—Theory and Varieties of Blowpipes—Fluxes—Furnaces
and Appliances—Heat and Temperature—Gold—Mercury—Silver
—Iron—Copper—Zinc—Magnesium—Cadmium—Tin—Lead—
Aluminium—Antimony—Bismuth—Palladium—Platinum—Iridium
—Nickel—Practical Work—Weights and Measures.
 Plumbing, Decorating, Metal Work,
etc., etc.
EXTERNAL PLUMBING WORK. A Treatise on Lead Work for
Roofs. By John W. Hart, R.P.C. 180 Illustrations. 272 pp. Demy 8vo.
Second Edition Revised. 1902. Price 7s. 6d.; India and Colonies, 8s.;
Other Countries, 8s. 6d.; strictly net.
Contents.
Cast Sheet Lead—Milled Sheet Lead—Roof Cesspools—Socket
Pipes—Drips—Gutters—Gutters (continued)—Breaks—Circular
Breaks—Flats—Flats (continued)—Rolls on Flats—Roll Ends—Roll
Intersections—Seam Rolls—Seam Rolls (continued)—Tack
Fixings—Step Flashings—Step Flashings (continued)—Secret
Gutters—Soakers—Hip and Valley Soakers—Dormer Windows—
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—Skylights—Hips and Ridging—Hips and Ridging (continued)—
Fixings for Hips and Ridging—Ornamental Ridging—Ornamental
Curb Rolls—Curb Rolls—Cornices—Towers and Finials—Towers
and Finials (continued)—Towers and Finials (continued)—Domes
—Domes (continued)—Ornamental Lead Work—Rain Water
Heads—Rain Water Heads (continued)—Rain Water Heads
(continued).

HINTS TO PLUMBERS ON JOINT WIPING, PIPE BENDING

AND LEAD BURNING. Third Edition, Revised and Corrected. By
John W. Hart, R.P.C. 184 Illustrations. 313 pp. Demy 8vo. 1901. Price
7s. 6d.; India and Colonies, 8s.; Other Countries, 8s. 6d.; strictly
net.
Contents.
 Pipe Bending—Pipe Bending (continued)—Pipe Bending
(continued)—Square Pipe Bendings—Half-circular Elbows—
Curved Bends on Square Pipe—Bossed Bends—Curved Plinth
Bends—Rain-water Shoes on Square Pipe—Curved and Angle
Bends—Square Pipe Fixings—Joint-wiping—Substitutes for
Wiped Joints—Preparing Wiped Joints—Joint Fixings—Plumbing
Irons—Joint Fixings—Use of "Touch" in Soldering—Underhand
Joints—Blown and Copper Bit Joints—Branch Joints—Branch
Joints (continued)—Block Joints—Block Joints (continued)—
Block Fixings—Astragal Joints—Pipe Fixings—Large Branch
Joints—Large Underhand Joints—Solders—Autogenous Soldering
or Lead Burning—Index.

WORKSHOP WRINKLES for Decorators, Painters, Paper-hangers

and Others. By W. N. Brown. Crown 8vo. 128 pp. 1901. Price 2s. 6d.;
Abroad, 3s.; strictly net.
SANITARY PLUMBING AND DRAINAGE. By John W. Hart. Demy
8vo. With 208 Illustrations. 250 pp. 1904. Price 7s. 6d.; India and
Colonies, 8s.; Other Countries, 8s. 6d.; strictly net.
Contents.
Sanitary Surveys—Drain Testing—Drain Testing with Smoke—
Testing Drains with Water—Drain Plugs for Testing—Sanitary
Defects—Closets—Baths and Lavatories—House Drains—
Manholes—Iron Soil Pipes—Lead Soil Pipes—Ventilating Pipes—
Water-closets—Flushing Cisterns—Baths—Bath Fittings—
Lavatories—Lavatory Fittings—Sinks—Waste Pipes—Water
Supply—Ball Valves—Town House Sanitary Arrangements—
Drainage—Jointing Pipes—Accessible Drains—Iron Drains—Iron
Junctions—Index.

THE PRINCIPLES AND PRACTICE OF DIPPING,

BURNISHING, LACQUERING AND BRONZING BRASS WARE.
By W. Norman Brown. 35 pp. Crown 8vo. 1900. Price 2s.; Abroad, 2s.
6d.; strictly net.
HOUSE DECORATING AND PAINTING. By W. Norman Brown.
Eighty-eight Illustrations. 150 pp. Crown 8vo. 1900. Price 3s. 6d.;
India and Colonies, 4s.; Other Countries, 4s. 6d.; strictly net.
A HISTORY OF DECORATIVE ART. By W. Norman Brown. Thirty-
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A HANDBOOK ON JAPANNING AND ENAMELLING FOR
CYCLES, BEDSTEADS, TINWARE, ETC. By William Norman Brown.
52 pp. and Illustrations. Crown 8vo. 1901. Price 2s.; Abroad, 2s. 6d.;
net.
THE PRINCIPLES OF HOT WATER SUPPLY. By John W. Hart,
R.P.C. With 129 Illustrations. 1900. 177 pp., demy 8vo. Price 7s. 6d.;
India and Colonies, 8s.; Other Countries, 8s. 6d.; strictly net.
Contents.
Water Circulation—The Tank System—Pipes and Joints—The
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Independent and Kitchen Boiler—Combined Cylinder and Tank
System with Duplicate Boilers—Indirect Heating and Boiler
Explosions—Pipe Boilers—Safety Valves—Safety Valves—The
American System—Heating Water by Steam—Steam Kettles and
Jets—Heating Power of Steam—Covering for Hot Water Pipes—
Index.
 Brewing and Botanical.
HOPS IN THEIR BOTANICAL, AGRICULTURAL AND
TECHNICAL ASPECT, AND AS AN ARTICLE OF COMMERCE. By
Emmanuel Gross, Professor at the Higher Agricultural College,
Tetschen-Liebwerd. Translated from the German. Seventy-eight
Illustrations. 1900. 340 pp. Demy 8vo. Price 12s. 6d.; India and
Colonies, 13s. 6d.; Other Countries, 15s.; strictly net.
Contents.
HISTORY OF THE HOP—THE HOP PLANT—Introductory—The
Roots—The Stem—and Leaves—Inflorescence and Flower:
Inflorescence and Flower of the Male Hop; Inflorescence and
Flower of the Female Hop—The Fruit and its Glandular
Structure: The Fruit and Seed—Propagation and Selection of the
Hop—Varieties of the Hop: (a) Red Hops; (b) Green Hops; (c)
Pale Green Hops—Classification according to the Period of
Ripening: Early August Hops; Medium Early Hops; Late Hops—
Injuries to Growth—Leaves Turning Yellow, Summer or
Sunbrand, Cones Dropping Off, Honey Dew, Damage from Wind,
Hail and Rain; Vegetable Enemies of the Hop: Animal Enemies
of the Hop—Beneficial Insects on Hops—CULTIVATION—The
Requirements of the Hop in Respect of Climate, Soil and
Situation: Climate; Soil; Situation—Selection of Variety and
Cuttings—Planting a Hop Garden: Drainage; Preparing the
Ground; Marking-out for Planting; Planting; Cultivation and
Cropping of the Hop Garden in the First Year—Work to be
Performed Annually in the Hop Garden: Working the Ground;
Cutting; The Non-cutting System; The Proper Performance of
the Operation of Cutting; Method of Cutting; Close Cutting,
Ordinary Cutting, The Long Cut, The Topping Cut; Proper
Season for Cutting: Autumn Cutting, Spring Cutting; Manuring;
Training the Hop Plant: Poled Gardens, Frame Training; Principal
Types of Frames; Pruning, Cropping, Topping, and Leaf
Stripping the Hop Plant; Picking, Drying and Bagging—Principal
and Subsidiary Utilisation of Hops and Hop Gardens—Life of a
Hop Garden; Subsequent Cropping—Cost of Production, Yield
and Selling Prices.
Preservation and Storage—Physical and Chemical Structure
of the Hop Cone—Judging the Value of Hops.
Statistics of Production—The Hop Trade—Index.
 Timber and Wood Waste.
TIMBER: A Comprehensive Study of Wood in all its Aspects
(Commercial and Botanical), showing the Different Applications and
Uses of Timber in Various Trades, etc. Translated from the French of
Paul Charpentier. Royal 8vo. 437 pp. 178 Illustrations. 1902. Price
12s. 6d.; India and Colonies, 13s. 6d.; Other Countries, 15s.; net.
Contents.
Physical and Chemical Properties of Timber—Composition
of the Vegetable Bodies—Chief Elements—M. Fremy's
Researches—Elementary Organs of Plants and especially of
Forests—Different Parts of Wood Anatomically and Chemically
Considered—General Properties of Wood—Description of the
Different Kinds of Wood—Principal Essences with Caducous
Leaves—Coniferous Resinous Trees—Division of the Useful
Varieties of Timber in the Different Countries of the
Globe—European Timber—African Timber—Asiatic Timber—
American Timber—Timber of Oceania—Forests—General Notes
as to Forests; their Influence—Opinions as to Sylviculture—
Improvement of Forests—Unwooding and Rewooding—
Preservation of Forests—Exploitation of Forests—Damage
caused to Forests—Different Alterations—The Preservation of
Timber—Generalities—Causes and Progress of Deterioration—
History of Different Proposed Processes—Dessication—
Superficial Carbonisation of Timber—Processes by Immersion—
Generalities as to Antiseptics Employed—Injection Processes in
Closed Vessels—The Boucherie System, Based upon the
Displacement of the Sap—Processes for Making Timber
Uninflammable—Applications of Timber—Generalities—
Working Timber—Paving—Timber for Mines—Railway Traverses
—Accessory Products—Gums—Works of M. Fremy—Resins—
 Barks—Tan—Application of Cork—The Application of Wood to Art
and Dyeing—Different Applications of Wood—Hard Wood—
Distillation of Wood—Pyroligneous Acid—Oil of Wood—
Distillation of Resins—Index.

THE UTILISATION OF WOOD WASTE. Translated from the

German of Ernst Hubbard. Crown 8vo. 192 pp. 1902. Fifty
Illustrations. Price 5s.; India and Colonies, 5s. 6d.; Other Countries,
6s.; net.
Contents.
General Remarks on the Utilisation of Sawdust—Employment of
Sawdust as Fuel, with and without Simultaneous Recovery of
Charcoal and the Products of Distillation—Manufacture of Oxalic
Acid from Sawdust—Process with Soda Lye; Thorn's Process;
Bohlig's Process—Manufacture of Spirit (Ethyl Alcohol) from
Wood Waste—Patent Dyes (Organic Sulphides, Sulphur Dyes, or
Mercapto Dyes)—Artificial Wood and Plastic Compositions from
Sawdust—Production of Artificial Wood Compositions for
Moulded Decorations—Employment of Sawdust for Blasting
Powders and Gunpowders—Employment of Sawdust for
Briquettes—Employment of Sawdust in the Ceramic Industry
and as an Addition to Mortar—Manufacture of Paper Pulp from
Wood—Casks—Various Applications of Sawdust and Wood
Refuse—Calcium Carbide—Manure—Wood Mosaic Plaques—
Bottle Stoppers—Parquetry—Fire-lighters—Carborundum—The
Production of Wood Wool—Bark—Index.
 Building and Architecture.
THE PREVENTION OF DAMPNESS IN BUILDINGS; with
Remarks on the Causes, Nature and Effects of Saline, Efflorescences
and Dry-rot, for Architects, Builders, Overseers, Plasterers, Painters
and House Owners. By Adolf Wilhelm Keim. Translated from the
German of the second revised Edition by M. J. Salter, F.I.C., F.C.S.
Eight Coloured Plates and Thirteen Illustrations. Crown 8vo. 115 pp.
1902. Price 5s.; India and Colonies, 5s. 6d.; Other Countries, 6s.;
net.
Contents.
The Various Causes of Dampness and Decay of the Masonry of
Buildings, and the Structural and Hygienic Evils of the Same—
Precautionary Measures during Building against Dampness and
Efflorescence—Methods of Remedying Dampness and
Efflorescences in the Walls of Old Buildings—The Artificial Drying
of New Houses, as well as Old Damp Dwellings, and the Theory
of the Hardening of Mortar—New, Certain and Permanently
Efficient Methods for Drying Old Damp Walls and Dwellings—
The Cause and Origin of Dry-rot: its Injurious Effect on Health,
its Destructive Action on Buildings, and its Successful Repression
—Methods of Preventing Dry-rot to be Adopted During
Construction—Old Methods of Preventing Dry-rot—Recent and
More Efficient Remedies for Dry-rot—Index.

HANDBOOK OF TECHNICAL TERMS USED IN ARCHITECTURE

AND BUILDING, AND THEIR ALLIED TRADES AND
SUBJECTS. By Augustine C. Passmore. Demy 8vo. 380 pp. 1904. Price
7s. 6d.; India and Colonies, 8s.; Other Countries, 8s. 6d.; strictly
net, post free.
 Foods and Sweetmeats.
THE MANUFACTURE OF PRESERVED FOODS AND
SWEETMEATS. By A. Hausner. With Twenty-eight Illustrations.
Translated from the German of the third enlarged Edition. Crown
8vo. 225 pp. 1902. Price 7s. 6d.; India and Colonies, 8s.; Other
Countries, 8s. 6d.; net.
Contents.
The Manufacture of Conserves—Introduction—The Causes
of the Putrefaction of Food—The Chemical Composition of Foods
—The Products of Decomposition—The Causes of Fermentation
and Putrefaction—Preservative Bodies—The Various Methods of
Preserving Food—The Preservation of Animal Food—Preserving
Meat by Means of Ice—The Preservation of Meat by Charcoal—
Preservation of Meat by Drying—The Preservation of Meat by
the Exclusion of Air—The Appert Method—Preserving Flesh by
Smoking—Quick Smoking—Preserving Meat with Salt—Quick
Salting by Air Pressure—Quick Salting by Liquid Pressure—
Gamgee's Method of Preserving Meat—The Preservation of Eggs
—Preservation of White and Yolk of Egg—Milk Preservation—
Condensed Milk—The Preservation of Fat—Manufacture of Soup
Tablets—Meat Biscuits—Extract of Beef—The Preservation of
Vegetable Foods in General—Compressing Vegetables—
Preservation of Vegetables by Appert's Method—The
Preservation of Fruit—Preservation of Fruit by Storage—The
Preservation of Fruit by Drying—Drying Fruit by Artificial Heat—
Roasting Fruit—The Preservation of Fruit with Sugar—Boiled
Preserved Fruit—The Preservation of Fruit in Spirit, Acetic Acid
or Glycerine—Preservation of Fruit without Boiling—Jam
Manufacture—The Manufacture of Fruit Jellies—The Making of
Gelatine Jellies—The Manufacture of "Sulzen"—The Preservation
of Fermented Beverages—The Manufacture of Candies—
Introduction—The Manufacture of Candied Fruit—The
Manufacture of Boiled Sugar and Caramel—The Candying of
Fruit—Caramelised Fruit—The Manufacture of Sugar Sticks, or
Barley Sugar—Bonbon Making—Fruit Drops—The Manufacture
of Dragées—The Machinery and Appliances used in Candy
Manufacture—Dyeing Candies and Bonbons—Essential Oils used
in Candy Making—Fruit Essences—The Manufacture of Filled
Bonbons, Liqueur Bonbons and Stamped Lozenges—Recipes for
Jams and Jellies—Recipes for Bonbon Making—Dragées—
Appendix—Index.
 Dyeing Fancy Goods.
THE ART OF DYEING AND STAINING MARBLE, ARTIFICIAL
STONE, BONE, HORN, IVORY AND WOOD, AND OF
IMITATING ALL SORTS OF WOOD. A Practical Handbook for the
Use of Joiners, Turners, Manufacturers of Fancy Goods, Stick and
Umbrella Makers, Comb Makers, etc. Translated from the German of
D. H. Soxhlet, Technical Chemist. Crown 8vo. 168 pp. 1902. Price
5s.; India and Colonies, 5s. 6d.; Other Countries, 6s.; net.
Contents.
Mordants and Stains—Natural Dyes—Artificial Pigments—Coal
Tar Dyes—-Staining Marble and Artificial Stone—Dyeing,
Bleaching and Imitation of Bone, Horn and Ivory—Imitation of
Tortoiseshell for Combs: Yellows, Dyeing Nuts—Ivory—Wood
Dyeing—Imitation of Mahogany: Dark Walnut, Oak, Birch-Bark,
Elder-Marquetry, Walnut, Walnut-Marquetry, Mahogany, Spanish
Mahogany, Palisander and Rose Wood, Tortoiseshell, Oak,
Ebony, Pear Tree—Black Dyeing Processes with Penetrating
Colours—Varnishes and Polishes: English Furniture Polish,
Vienna Furniture Polish, Amber Varnish, Copal Varnish,
Composition for Preserving Furniture—Index.
 Lithography, Printing and
Engraving.
PRACTICAL LITHOGRAPHY. By Alfred Seymour. Demy 8vo. With
Frontispiece and 33 Illus. 120 pp. 1903. Price 5s.; Colonies, 5s. 6d.;
Other Countries, 6s.; net.
Contents.
Stones—Transfer Inks—Transfer Papers—Transfer Printing—Litho
Press—Press Work—Machine Printing—Colour Printing—
Substitutes for Lithographic Stones—Tin Plate Printing and
Decoration—Photo-Lithography.

PRINTERS' AND STATIONERS' READY RECKONER AND

COMPENDIUM. Compiled by Victor Graham. Crown 8vo. 1904.
[In the press.
Contents.
Price of Paper per Sheet, Quire, Ream and Lb.—Cost of 100 to
1000 Sheets at various Sizes and Prices per Ream—Cost of
Cards—Quantity Table—Sizes and Weights of Paper, Cards, etc.
—Notes on Account Books—Discount Tables—Sizes of spaces—
Leads to a lb.—Dictionary—Measure for Bookwork—Correcting
Proofs, etc.

ENGRAVING FOR ILLUSTRATION. HISTORICAL AND

PRACTICAL NOTES. By J. Kirkbride. 72 pp. Two Plates and 6
Illustrations. Crown 8vo. 1903. Price 2s. 6d.; Abroad, 3s.; strictly
net.
Contents.
Its Inception—Wood Engraving—Metal Engraving—Engraving in
England—Etching—Mezzotint—Photo-Process Engraving—The
Engraver's Task—Appreciative Criticism—Index.
 Bookbinding.
PRACTICAL BOOKBINDING. By Paul Adam. Translated from the
German. Crown 8vo. 180 pp. 127 Illustrations. 1903. Price 5s.;
Colonies, 5s. 6d.; Other Countries, 6s.; net.
Contents.
Materials for Sewing and Pasting—Materials for Covering the
Book—Materials for Decorating and Finishing—Tools—General
Preparatory Work—Sewing—Forwarding, Cutting, Rounding and
Backing—Forwarding, Decoration of Edges and Headbanding—
Boarding—Preparing the Cover—Work with the Blocking Press—
Treatment of Sewn Books, Fastening in Covers, and Finishing
Off—Hand-tooling and Other Decoration—Account Books—
School Books, Mounting Maps, Drawings, etc.—Index.
 Sugar Refining.
THE TECHNOLOGY OF SUGAR: Practical Treatise on the Modern
Methods of Manufacture of Sugar from the Sugar Cane and Sugar
Beet. By John Geddes McIntosh. Demy 8vo. 83 Illustrations. 420 pp.
Seventy-six Tables. 1903. Price 10s. 6d.; Colonies, 11s.; Other
Countries, 12s.; net.
(See "Evaporating, Condensing, etc., Apparatus," p. 26.)
Contents.
Chemistry of Sucrose, Lactose, Maltose, Glucose, Invert Sugar,
etc.—Purchase and Analysis of Beets—Treatment of Beets—
Diffusion—Filtration—Concentration—Evaporation—Sugar
Cane: Cultivation—Milling—Diffusion—Sugar Refining—Analysis
of Raw Sugars—Chemistry of Molasses, etc.
 Bibliography.
CLASSIFIED GUIDE TO TECHNICAL AND COMMERCIAL
BOOKS. Compiled by Edgar Greenwood. Demy 8vo. 1904. Being a
Subject-list of the Principal British and American Books in print;
giving Title, Author, Size, Date, Publisher and Price.
[In the press.
Contents.
Agriculture—Architecture—Art—Book Production—Building—
Chemicals—Commercial—Electricity—Engineering—Farming—
Gardening—Glass—Hygiene—Legal (not pure Law)—Metallurgy
—Mining—Military—Music—Naval—Oils—Paints—Photography—
Physical Training—Plumbing—Pottery—Printing—Public Health—
Railways—Roads—Soaps—Surveying—Teaching—Textile—
Veterinary—Water—Index, etc., etc.

TEXTILE SOAPS AND OILS. Handbook on the Preparation,

Properties and Analysis of the Soaps and Oils used in Textile
Manufacturing, Dyeing and Printing. By George H. Hurst, F.C.S.
Crown 8vo. 200 pp. Nine Illustrations. 1904. Price 5s.; India and
Colonies, 5s. 6d.; Other Countries, 6s.; net.
Contents.
Methods of Making Soaps—Hard Soap—Soft Soap. Special
Textile Soaps—Wool Soaps—Calico Printers' Soaps—Dyers'
Soaps. Relation of Soap to Water for Industrial Purposes
—Treating Waste Soap Liquors—Boiled Off Liquor—Calico
Printers and Dyers' Soap Liquors—Soap Analysis—Fat in
Soap.
ANIMAL AND VEGETABLE OILS AND FATS—Tallow—Lard—Bone
Grease—Tallow Oil. Vegetable Soap, Oils and Fats—Palm Oil
 —Coco-nut Oil—Olive Oil—Cottonseed Oil—Linseed Oil—Castor
Oil—Corn Oil—Whale Oil or Train Oil—Repe Oil.
GLYCERINE.
TEXTILE OILS—Oleic Acid—Blended Wool Oils—Oils for Cotton
Dyeing, Printing and Finishing—Turkey Red Oil—Alizarine Oil—
Oleine—Oxy Turkey Red Oils—Soluble Oil—Analysis of Turkey
Red Oil—Finisher's Soluble Oil—Finisher's Soap Softening—
Testing and Adulteration of Oils—Index.

Scott, Greenwood & Co. will forward any of the above Books, post
free, upon receipt of remittance at the published price, or they can
be obtained through all Booksellers.
Full List of Contents of any of the books will be sent on application,
and particulars of books in the press will be sent when ready to
persons sending name and address.

SCOTT, GREENWOOD & CO.,

Technical Book Publishers,
19 LUDGATE HILL, LONDON, E.C.
Transcriber's Note
This catalogue was originally bound in with Practical Bookbinding by Paul Adam, which is
available from Project Gutenberg at http://www.gutenberg.org/ebooks/39318
On p.26, the title of the first chapter of Evaporating, Condensing and Cooling Apparatus
has been corrected by reference to the original book.
 *** END OF THE PROJECT GUTENBERG EBOOK CATALOGUE OF
SPECIAL TECHNICAL WORKS FOR MANUFACTURERS, STUDENTS,
AND TECHNICAL SCHOOLS. MAY 1904 ***

Updated editions will replace the previous one—the old editions

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