Abstract
In the last few years, multi-robot systems have augmented their complexity, due to the increased potential of novel sensors and actuators, and in order to satisfy the requirements of the applications they are involved into. For the development and testing of networked robotic systems, experimental testbeds are fundamental in order to verify the effectiveness of robot control methods in real contexts. In this paper, we present our Networked Robot Arena (NRA), which is a software/hardware framework for experimental testing of control and cooperation algorithms in the field of multi-robot systems. The main objective is to provide a user-friendly and flexible testbed that allows researchers and students to easily test their projects in a real-world multi-robot environment. We describe the software and hardware architecture of the NRA system and present an example of multi-mission control of a network of robots to demonstrate the effectiveness of the proposed framework.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Burgard, W., Moors, M., Stachniss, C., Schneider, F.: Coordinated multi-robot exploration. IEEE Transactions on Robotics 21(3) (2005)
Fierro, R., Das, A., Spletzer, J., Esposito, J., Kumar, V., Ostrowski, J.P., Pappas, G., Taylor, C.J., Hur, Y., Alur, R., Lee, I., Grudic, G., Ben Southall, B.: A Framework and Architecture for Multi-Robot Coordination. The International Journal of Robotics Research 21(10-11), 977–995 (2002)
Kumar, V., Rus, D., Singh, S.: Robot and sensor networks for first responders. IEEE Pervasive Computing 3(4), 24–33 (2004)
Vincent, R., Fox, D., Ko, J., Konolige, K., Limketkai, B., Morisset, B., Ortiz, C., Schulz, D., Stewart, B.: Distributed multirobot exploration, mapping, and task allocation. In: Annals of Mathematics and Artificial Intelligence. Springer, Netherlands (2009)
Pugh, J., Martinoli, A.: Multi-robot learning with particle swarm optimization. In: Proceedings of the Fifth International Joint Conference on Autonomous Agents and Multiagent Systems (2006)
Lerman, K., Chris Jones, C., Galstyan, A., Matarc, M.J.: Analysis of Dynamic Task Allocation in Multi-Robot Systems. International Journal of Robotics Research 25(3), 225–241 (2006)
Viguria, A., Maza, I., Ollero, A.: SET: An algorithm for distributed multirobot task allocation with dynamic negotiation based on task subsets. In: Proc. of 2007 IEEE International Conference on Robotics and Automation, Roma, Italy (2007)
Werner, F., Rckert, U., Tanoto, A., Welzel, J.: The Teleworkbench A Platform for Performing and Comparing Experiments in Robot Navigation. In: IEEE International Conference on Robotics and Automation (ICRA), Anchorage, AK, USA (2010)
Mondada, F., Franzi, E., Guignard, A.: The Development of Khepera. Experiments with the Mini-Robot Khepera, 7–14 (1999)
Mondada, F., Bonani, M., Raemy, X., Pugh, J., Cianci, C., Klaptocz, A., Magnenat, S., Zufferey, J.-C., Floreano, D., Martinoli, A.: The E-Puck, a Robot Designed for Education in Engineering. In: Proceedings of the 9th Conference on Autonomous Robot Systems and Competitions, vol. 1(1), pp. 59–65 (2009)
Brooks, R.A.: Intelligence without Representation. Artificial Intelligence 47, 139–159 (1991)
Payton, D.W., Keirsey, D., Kimble, D.M., Krozel, J., Rosenblatt, J.K.: Do whatever works: A robust approach to fault-tolerant autonomous control. Applied Intelligence 2(3), 225–250 (1992)
Tacconi, D., Lewis, F.: A new matrix model for discrete event systems: application to simulation. IEEE Control System Magazine 17(5), 62–71 (1997)
Di Paola, D., Gasparri, A., Naso, D., Ulivi, G., Lewis, F.L.: Decentralized Task Sequencing and Multiple Mission Control for Heterogeneous Robotic Networks. In: Proc. of IEEE International Conference on Robotics and Automation (2011)
Di Paola, D., Naso, D., Turchiano, B.: A Heuristic Approach to Task Assignment and Control for Robotic Networks. In: Proc. of the IEEE International Symposium on Industrial Electronics, ISIE (2010)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag GmbH Berlin Heidelberg
About this paper
Cite this paper
Di Paola, D., Milella, A., Cicirelli, G. (2012). An Experimental Testbed for Robotic Network Applications. In: Rückert, U., Joaquin, S., Felix, W. (eds) Advances in Autonomous Mini Robots. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-27482-4_17
Download citation
DOI: https://doi.org/10.1007/978-3-642-27482-4_17
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-27481-7
Online ISBN: 978-3-642-27482-4
eBook Packages: EngineeringEngineering (R0)