A Multi-Robot Testbed for Biologically-Inspired Cooperative Control

  • Rafael Fierro
  • Justin Clark
  • Dean Hougen
  • Sesh Commuri

Abstract

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.

Keywords

Multi-robot cooperation perimeter detection biologically inspired hybrid system 

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Copyright information

© Springer 2005

Authors and Affiliations

  • Rafael Fierro
    • 1
  • Justin Clark
    • 1
  • Dean Hougen
    • 2
  • Sesh Commuri
    • 2
  1. 1.Marhes LaboratoryOklahoma State UniversityStillwaterUSA
  2. 2.Real LaboratoryUniversity of Oklahoma NormanUSA

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