A Multi-Robot Testbed for Biologically-Inspired Cooperative Control
In this paper a multi-robot experimental testbed is described. Currently, the testbed consists of five autonomous ground vehicles and two aerial vehicles that are used for testing multi-robot cooperative control algorithms. Each platform has communication, on-board sensing, and computing. Robots have plug-and-play sensor capability and use the Controller Area Network (CAN) protocol, which maintains communication between modules. A biologically-inspired cooperative hybrid system is presented in which a group of mobile robotic sensors with limited communication are able to search for, locate, and track a perimeter while avoiding collisions.
KeywordsMulti-robot cooperation perimeter detection biologically inspired hybrid system
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