Multiple Mobile Robot Systems

  • Lynne E. Parker
  • Daniela Rus
  • Gaurav S. Sukhatme

Abstract

Within the context of multiple mobile, and networked robot systems, this chapter explores the current state of the art. After a brief introduction, we first examine architectures for multirobot cooperation, exploring the alternative approaches that have been developed. Next, we explore communications issues and their impact on multirobot teams in Sect. 53.3, followed by a discussion of networked mobile robots in Sect. 53.4. Following this we discuss swarm robot systems in Sect. 53.5 and modular robot systems in Sect. 53.6. While swarm and modular systems typically assume large numbers of homogeneous robots, other types of multirobot systems include heterogeneous robots. We therefore next discuss heterogeneity in cooperative robot teams in Sect. 53.7. Once robot teams allow for individual heterogeneity, issues of task allocation become important; Sect. 53.8 therefore discusses common approaches to task allocation. Section 53.9 discusses the challenges of multirobot learning, and some representative approaches. We outline some of the typical application domains which serve as test beds for multirobot systems research in Sect. 53.10. Finally, we conclude in Sect. 53.11 with some summary remarks and suggestions for further reading.

1-D

one-dimensional

2-D

two-dimensional

3-D

three-dimensional

ASyMTRe

automated synthesis of multirobot task solutions through software reconfiguration

BLE

broadcast of local eligibility

CCP

coverage configuration protocol

CMOMMT

cooperative multirobot observation of multiple moving target

CNP

contract net protocol

CRLB

Cramér–Rao lower bound

DARPA

Defense Advanced Research Projects Agency

DARS

distributed autonomous robotic systems

DIRA

distributed robot architecture

EPFL

Ecole Polytechnique Fédérale de Lausanne

EU

European Union

GPS

global positioning system

GraWoLF

gradient-based win or learn fast

IA

instantaneous allocation

IEEE

Institute of Electrical and Electronics Engineers

LAAS

Laboratory for Analysis and Architecture of Systems

MEMS

microelectromechanical system

MLE

maximum likelihood estimate

MR

multirobot task

MRTA

multirobot task allocation

MT

multitask

NIMS

networked infomechanical systems

PEAS

probing environment and adaptive sleeping protocol

RPI

Rensselaer Polytechnic Institute

SDR

software for distributed robotics

SMA

shape memory alloy

SR

single-robot task

ST

single-task

TA

time-extended assignment

TCP

transmission control protocol

UAV

unmanned aerial vehicle

UCLA

University of California, Los Angeles

UDP

user datagram protocol

UGV

unmanned ground vehicle

USC

University of Southern California

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Copyright information

© Springer-Verlag Berlin Heidelberg 2016

Authors and Affiliations

  • Lynne E. Parker
    • 1
  • Daniela Rus
    • 2
  • Gaurav S. Sukhatme
    • 3
  1. 1.Department of Electrical Engineering and Computer ScienceUniversity of TennesseeKnoxvilleUSA
  2. 2.CSAIL Center for RoboticsMassachusetts Institute of TechnologyCambridgeUSA
  3. 3.Department of Computer ScienceUniversity of Southern CaliforniaLos AngelesUSA

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