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Centibots: Very Large Scale Distributed Robotic Teams

  • Kurt Konolige
  • Dieter Fox
  • Charlie Ortiz
  • Andrew Agno
  • Michael Eriksen
  • Benson Limketkai
  • Jonathan Ko
  • Benoit Morisset
  • Dirk Schulz
  • Benjamin Stewart
  • Regis Vincent
IV. Localization and Map Building
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 21)

Abstract

We describe the development of Centibots, a framework for very large teams of robots that are able to perceive, explore, plan and collaborate in unknown environments. The Centibots team currently consist of approximately 100 robots (Figure 1). The Centibots team can be deployed in unexplored areas, and can efficiently distribute tasks among themselves; the system also makes use of a mixed initiative mode of interaction in which a user can influence missions as necessary. In contrast to simulation-based systems which abstract away aspects of the environment for the purposes of exploring component technologies, the Centibots design reflects an integrated end-to-end system.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Kurt Konolige
    • 1
  • Dieter Fox
    • 2
  • Charlie Ortiz
    • 1
  • Andrew Agno
    • 1
  • Michael Eriksen
    • 1
  • Benson Limketkai
    • 2
  • Jonathan Ko
    • 2
  • Benoit Morisset
    • 1
  • Dirk Schulz
    • 2
  • Benjamin Stewart
    • 2
  • Regis Vincent
    • 1
  1. 1.SRI International, Artificial Intelligence CenterUSA
  2. 2.University of Washington, Department of Computer Science & EngineeringUSA

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